Independent and Leader–Follower Control for Two Magnetic Micro-Agents

Alper Denasi (Corresponding Author), Sarthak Misra

Research output: Contribution to journalArticleAcademicpeer-review

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Abstract

Microrobotics is a promising field that can revolutionize fields such as minimally invasive surgery. Applications such as micromanipulation can be performed more effectively using multiple microsized agents. These can be performed more accurately with the help of robust controllers. In this letter, we design a leader-follower controller that can be used to perform coordinated motion tasks. A prescribed performance controller is designed for the leader micro-agent whereas a synchronization controller is designed for the follower. The main difference between our method and the literature is that our method can achieve a prespecified control performance. The positions of the micro-agents are obtained using microscopic images and image processing. The velocities and accelerations of the micro-agents are obtained using state observers. The algorithm is tested experimentally on spherical magnetic microparticles that have an average diameter of 100 μm. Two types of experiments are performed. The first one is related to the leader-follower control, whereas the second one demonstrates the independent control of the two agents. The maximum value of the steady-state errors obtained in the leader-follower control experiments are 14.45 μm and 10.19 μm in the x-and y-directions for the leader agent and 6.47 μm and 7.77 μm in the x-and y-directions for the follower errors, respectively.
Original languageEnglish
Pages (from-to)218-225
Number of pages8
JournalIEEE Robotics and automation letters
Volume3
Issue number1
DOIs
Publication statusPublished - 1 Jan 2018

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Controller
y direction
x direction
Controllers
Micromanipulation
Minimally Invasive Surgery
State Observer
Surgery
Experiment
Image Processing
Synchronization
Image processing
Experiments
Motion
Demonstrate
Design

Cite this

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title = "Independent and Leader–Follower Control for Two Magnetic Micro-Agents",
abstract = "Microrobotics is a promising field that can revolutionize fields such as minimally invasive surgery. Applications such as micromanipulation can be performed more effectively using multiple microsized agents. These can be performed more accurately with the help of robust controllers. In this letter, we design a leader-follower controller that can be used to perform coordinated motion tasks. A prescribed performance controller is designed for the leader micro-agent whereas a synchronization controller is designed for the follower. The main difference between our method and the literature is that our method can achieve a prespecified control performance. The positions of the micro-agents are obtained using microscopic images and image processing. The velocities and accelerations of the micro-agents are obtained using state observers. The algorithm is tested experimentally on spherical magnetic microparticles that have an average diameter of 100 μm. Two types of experiments are performed. The first one is related to the leader-follower control, whereas the second one demonstrates the independent control of the two agents. The maximum value of the steady-state errors obtained in the leader-follower control experiments are 14.45 μm and 10.19 μm in the x-and y-directions for the leader agent and 6.47 μm and 7.77 μm in the x-and y-directions for the follower errors, respectively.",
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Independent and Leader–Follower Control for Two Magnetic Micro-Agents. / Denasi, Alper (Corresponding Author); Misra, Sarthak.

In: IEEE Robotics and automation letters, Vol. 3, No. 1, 01.01.2018, p. 218-225.

Research output: Contribution to journalArticleAcademicpeer-review

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