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Dynamic Modeling and Optimal Control of a Novel Microswimmer with Gimbal Based Disks

Published online by Cambridge University Press:  08 January 2021

Ali Nickandish  and
Hossein Nejat Pishkenari Open the ORCID record for Hossein Nejat Pishkenari [Opens in a new window]
Ali Nickandish
Affiliation:
Nano Robotics Laboratory, Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Hossein Nejat Pishkenari*
Affiliation:
Nano Robotics Laboratory, Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
*
*Corresponding author. E-mail: nejat@sharif.edu
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Summary

We have introduced a new low-Reynolds-number microrobot with high 3D maneuverability. Our novel proposed microrobot has a higher rank of the controllability matrix with respect to the previous microswimmers which makes it capable of performing complex motions in space. In this study, governing equations of the microswimmer’s motion have been derived and simulated. Subsequently, we have proposed a cascade optimal control technique to control the swimmer trajectory. In the proposed control scheme, the actuation is provided in a way that an exponential stability on the system trajectory error as well as minimum fluctuations of control signals are achieved.

Keywords

Low-Reynolds-number swimmerMicroswimmerDynamic modelingMicrorobotControl

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Type
Article
Information
Robotica , Volume 39 , Issue 8 , August 2021 , pp. 1468 - 1484
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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