TY - GEN
T1 - Comparison of three types of closed-loop control for the 2D trajectory of a magnetic microswimmer
AU - Benites Mozo, Yarilenka G.
AU - Vela, Emir A.
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This work is about the comparison of three types of closed-loop controllers for the 2D navigation of magnetic microswimmers within a simulated environment that takes real physical parameters from the literature. We modeled the physical system in state space, then trajectories were generated using the A∗ algorithm. Discrete PID, LQR and MPC controllers were implemented in our simulations to be compared in terms of settling time, overshoot and error. Finally, the implementation of the LQR control algorithm is recommended due to its better overall performance. However, to be implemented, we also propose a redesign of the electromagnetic coils, that actuate the microswimmers, due to LQR's demand in control effort and current intensity.
AB - This work is about the comparison of three types of closed-loop controllers for the 2D navigation of magnetic microswimmers within a simulated environment that takes real physical parameters from the literature. We modeled the physical system in state space, then trajectories were generated using the A∗ algorithm. Discrete PID, LQR and MPC controllers were implemented in our simulations to be compared in terms of settling time, overshoot and error. Finally, the implementation of the LQR control algorithm is recommended due to its better overall performance. However, to be implemented, we also propose a redesign of the electromagnetic coils, that actuate the microswimmers, due to LQR's demand in control effort and current intensity.
KW - Automatic control
KW - Magnetic Microswimmers
KW - Trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=85138818797&partnerID=8YFLogxK
U2 - 10.1109/INTERCON55795.2022.9870100
DO - 10.1109/INTERCON55795.2022.9870100
M3 - Conference contribution
AN - SCOPUS:85138818797
T3 - Proceedings of the 2022 IEEE 29th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2022
BT - Proceedings of the 2022 IEEE 29th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2022
Y2 - 11 August 2022 through 13 August 2022
ER -