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Magnetic Microrobot Locomotion in Vascular System Using A Combination of Time Delay Control and Terminal Sliding Mode Approach

Title
Magnetic Microrobot Locomotion in Vascular System Using A Combination of Time Delay Control and Terminal Sliding Mode Approach
Authors
Widya Aulia
DGIST Authors
Widya Aulia; Chang, Pyung Hun; Nelson, Bradley
Advisor(s)
Chang, Pyung Hun
Co-Advisor(s)
Nelson, Bradley
Issue Date
2014
Available Date
2016-05-18
Degree Date
2014. 2
Type
Thesis
Keywords
Microrobottrajectory trackingtime delay controlterminal sliding mode
Abstract
This thesis deals with designing a control law for trajectory tracking. The target is to move a microrobot in a blood vessel accurately. The microrobot is made of a ferromagnetic material and is propelled by a magnetic gradient coil. The controller combines time delay control (TDC) and terminal sliding mode (TSM) control. TDC allows deriving a control law without prior knowledge of the plant. As the system is a nonlinear function which also includes uncertainties and unexpected disturbance, TDC gives a benefit of less effort needed compared to model-based controller. Meanwhile, TSM term adds accuracy which it compensates TDC estimation error and also adds robustness against parameter variation and disturbance. In addition, anti-windup scheme acts as a support by eliminating the accumulated error due to integral term by TDC and TSM. So, the proposed controller can avoid actuator saturation problem caused by windup phenomenon. Simulations are conducted by copying a realistic situation. Accuracy and robustness evaluations are done in stages to see how each terms in a control law give an improvement and to see how an overall controller performs. ⓒ 2014 DGIST
Table Of Contents
I. INTRODUCTION 1 -- 1.1. BACKGROUND 1 -- 1.2. RELATED RESEARCH 3 -- 1.3. OBJECTIVE 4 -- 1.4. SPECIFICATION 4 -- 1.5. SCOPE 5 -- 1.6. OVERVIEW 5 -- II. METHOD 6 -- 2.1. TIME DELAY CONTROL 6 -- 2.2. TERMINAL SLIDING MODE 9 -- 2.3. ANTI-WINDUP SCHEME 11 -- 2.4. PRACTICAL APPROACH 14 -- 2.4.1. FEEDBACK SIGNAL 14 -- 2.4.2. CONTROLLER GAIN SELECTION 15 -- 2.4.3. MEASUREMENT NOISE 16 -- 2.5. ADVANTAGES AND DRAWBACKS 16 -- III. RESULTS 17 -- 3.1. SIMULATION SETUP 17 -- 3.1.1. PLANT MODELING 18 -- 3.1.2. ACTUATOR AND POSITION SENSOR MODELING 20 -- 3.1.3. TRAJECTORY 21 -- 3.1.4. SIMULATION PARAMETER 21 -- 3.1.5. CONTROLLER TARGET 24 -- 3.2. ACCURACY AND ROBUSTNESS EVALUATION 24 -- 3.3. ANTI-WINDUP SCHEME EVALUATION 32 -- 3.4. SOLUTION FOR MEASUREMENT NOISE 35 -- 3.5. 2D SIMULATION 46 -- CONCLUSION AND FUTURE WORK 49 -- REFERENCES 50 -- 요 약 문(ABSTRACT IN KOREAN) 52
URI
http://dgist.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002262550
http://hdl.handle.net/20.500.11750/1357
DOI
10.22677/thesis.2262550
Degree
Master
Department
Robotics Engineering
University
DGIST
Files:
Collection:
Robotics EngineeringThesesMaster


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