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Time delay estimation for control of microrobots under uncertainties

Title
Time delay estimation for control of microrobots under uncertainties
Authors
Ghanbari, AliChang, Pyung HunChoi, Hong SooNelson, Bradley J.
DGIST Authors
Choi, Hong Soo
Issue Date
2013
Citation
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013, 862-867
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
Abstract
Accurate control is necessary to enhance the practical usage of microrobots during in-vivo applications to achieve their goal. Electromagnetic in-vivo manipulation of microrobots in a low Reynolds number flow imposes uncertainties and nonlinearities which cannot be completely known and modeled to the robot dynamics. This paper presents a controller based on time delay estimation (TDE) of uncertainties. The controller does not use any information of the system and estimates the unknown terms. Our Simulation shows that the TDE controller is robust for magnetic steering of microrobots. Experiments demonstrate the successful simulation results and the ability of the simply implementable control scheme by step inputs and complex paths. © 2013 IEEE.
URI
http://hdl.handle.net/20.500.11750/5520
DOI
10.1109/AIM.2013.6584202
Publisher
Institute of Electrical and Electronics Engineers
Related Researcher
  • Author Choi, Hong Soo Bio-Micro Robotics Lab
  • Research Interests Micro/Nano robot; Neural prostheses; MEMS; BMI; MEMS/NEMS; BioMEMS; MEMS 초음파 트랜스듀스; 인공와우
Files:
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Collection:
Robotics EngineeringBio-Micro Robotics Lab2. Conference Papers


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