仿生工程学报 ›› 2017, Vol. 14 ›› Issue (2): 245-259.doi: 10.1016/S1672-6529(16)60395-5
Feedback Control of an Achiral Robotic Microswimmer
U Kei Cheang1, Hoyeon Kim2, Dejan Milutinovi?3, Jongeun Choi4, Min Jun Kim2
- 1. Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA 19104, USA
2. Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
3. Department of Computer Engineering, University of California, Santa Cruz, Santa Cruz, California 95064, USA
4. School of Mechanical Engineering, Yonsei University, Seoul, South Kore
Feedback Control of an Achiral Robotic Microswimmer
U Kei Cheang1, Hoyeon Kim2, Dejan Milutinovi?3, Jongeun Choi4, Min Jun Kim2
- 1. Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA 19104, USA
2. Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
3. Department of Computer Engineering, University of California, Santa Cruz, Santa Cruz, California 95064, USA
4. School of Mechanical Engineering, Yonsei University, Seoul, South Kore
摘要： 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 microswimmers 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.