Model Predictive Control of a Magnetically Guided Rolling Microrobot

In this work, we present a model predictive control (MPC) approach to the motion control of a nonholonomic rolling microrobot. The mobile microrobot is designed to follow a rotating magnetic field such that it rolls on a supporting surface in a low Reynold's number liquid environment. The MPC f...

Full description

Saved in:
Bibliographic Details
Published in:IEEE robotics and automation letters 2016-01, Vol.1 (1), p.455-460
Main Authors: Pieters, Roel, Lombriser, Sievi, Alvarez-Aguirre, Alejandro, Nelson, Bradley J.
Format: Article
Language:English
Subjects:
Collision avoidance
magnetic manipulation
Magnetic materials
Micro/nano robots
Optimization
optimization and optimal control
Photonic crystals
Predictive control
Robots
visual tracking
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this work, we present a model predictive control (MPC) approach to the motion control of a nonholonomic rolling microrobot. The mobile microrobot is designed to follow a rotating magnetic field such that it rolls on a supporting surface in a low Reynold's number liquid environment. The MPC framework takes the nonholonomic and kinematic constraints of the microrobot and the actuation limitations of the system into account for the task of trajectory tracking and obstacle avoidance. We verify our approach by presenting a simulation study and experimental results with an 8-coil electromagnetic actuation system.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2016.2521407