3D Path-Following Using MRAC on a Millimeter-Scale Spiral-Type Magnetic Robot
3D Path-Following Using MRAC on a Millimeter-Scale Spiral-Type Magnetic Robot
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DOI：
10.1109/lra.2020.2969159
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发表时间：
2020-01
影响因子：
5.2
通讯作者：
Haoran Zhao;J. Leclerc;Maria Feucht;Olivia Bailey;Aaron T. Becker
中科院分区：
文献类型：
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作者：
Haoran Zhao;J. Leclerc;Maria Feucht;Olivia Bailey;Aaron T. Becker
这封信的重点是在充满水的工作空间中的螺旋型螺旋磁游泳者的三维路径跟踪。游泳者的直径为2.5 mm，长度为6 mm，并由外部时变磁场控制。提出并测试了一种补偿不希望的磁梯度力的方法。对五种不同螺距的游泳器进行了实验分析。所有的控制由相同的模型参考自适应控制器（MRAC）。与传统的手调PI控制器相比，使用MRAC后，其三维路径跟踪性能得到了显著改善。在平均速度为${\text{50}}\，\text{mm}$/s时，MRAC的路径跟踪平均误差为3.8$ \;\pm\; $1.8 mm，小于游泳者的一个体长。这种新的控制器的多功能性证明了通过螺旋轨迹上的障碍物和向前和向后运动的路径跟踪。
This letter focuses on the 3D path-following of a spiral-type helical magnetic swimmer in a water-filled workspace. The swimmer has a diameter of 2.5 mm, a length of 6 mm, and is controlled by an external time-varying magnetic field. A method to compensate undesired magnetic gradient forces is proposed and tested. Five swimmer designs with different thread pitch values were experimentally analyzed. All were controlled by the same model reference adaptive controller (MRAC). Compared to a conventional hand-tuned PI controller, their 3D path-following performance is significantly improved by using MRAC. At an average speed of ${\text{50}}\,\text{mm}$/s, the path-following mean error of the MRAC is 3.8$ \;\pm\; $1.8 mm, less than one body length of the swimmer. The versatility of this new controller is demonstrated by analyzing path-following through obstacles on a helical trajectory and forward & backward motion.