Path Following Control of Swimming Magnetic Helical Microrobots Subject to Step-Out Frequencies

摘要

This paper investigates the problem of straight-line path following for planar swimming magnetic helical microrobots. The control objective is to make the microrobot to converge to a straight line without violating the input saturation limits. The proposed feedback control solution is based on an optimal decision strategy (ODS) that is cast as a quadratic program. The ODS-based control law minimizes the difference between the microrobot velocity and a line-of-sight (LOS)-based reference vector field while respecting the input saturation constraints.