Feedback Control of an Achiral Robotic Microswimmer

• Published in: Journal of bionics engineering 2017-04, Vol.14 (2), p.245-259
• Main Authors: Kei Cheang, U, Kim, Hoyeon, Milutinović, Dejan, Choi, Jongeun, Kim, Min Jun
• Format: Article
• Language: English
• Subjects: Artificial Intelligence; Biochemical Engineering; Bioinformatics; Biomaterials; Biomedical Engineering and Bioengineering; Biomedical Engineering/Biotechnology; chirality; Engineering; feedback control; low Reynold number; magnetic control; microrobotics; 不确定性; 亥姆霍兹线圈; 反馈控制器; 实验数据; 手性; 机器人; 游泳能力; 运动学模型
• ISSN: 1672-6529; 2543-2141
• DOI: 10.1016/S1672-6529(16)60395-5

Magnetic microswimmers are useful for navigating and performing tasks at small scales. To demonstrate effective control over such microswimmers, we implemented feedback control of the three-bead achiral microswimmers in both simulation and experiment. The achiral microswimmers with the ability to swim in bulk fluid are controlled wirelessly using magnetic fields generated from electromagnetic coils. The achirality of the microswimmers introduces unknown handedness resulting in uncertainty in swimming direction. We use a combination of rotating and static magnetic fields generated from an approximate Helmholtz coil system to overcome such uncertainty. There are also movement uncertainties due to environmental factors such as unsteady flow conditions. A kinematic model based feedback controller was created based on data fitting of experimental data. However, the controller was unable to yield satisfactory performance due to uncertainties from environmental factors; i.e., the time to reach target pose under adverse flow condition is too long. Following the implementation of an integral controller to control the microswimmers＇ swimming velocity, the mieroswimmers were able to reach the target in roughly half the time. Through simulation and experiments, we show that the feedback control law can move an achiral microswimmer from any initial conditions to a target pose.