Accurate Tracking Control of Magnetoelastic Elastic Miniature Swimmer under External Disturbance and Complex Path

doi:10.3901/JME.2022.07.093

Journal of Mechanical Engineering ›› 2022, Vol. 58 ›› Issue (7): 93-102.doi: 10.3901/JME.2022.07.093

Previous Articles Next Articles

Accurate Tracking Control of Magnetoelastic Elastic Miniature Swimmer under External Disturbance and Complex Path

XIANG Hongbiao^1,2, CHENG Xu^1,2, LI Mengwei^1,2, WANG Shoujun^1,2, ZHANG Mian^1,2, HUANG Xian³, HUO Wenxing³

1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384;2. National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384;3. School of Precision Instruments & Opto-Electronics Engineering, Tianjin University, Tianjin 300372

Received:2021-08-02 Revised:2021-11-04 Online:2022-04-05 Published:2022-05-20

Abstract

Abstract: A millimeter-scale miniature swimming robot is designed based on magnetoelastic composite material. In order to realize the cable-less driven for the swimmer, spatial uniform magnetic fields are set up through 3D Helmholtz coils. The motion posture of the swimmer is changed by time-varying rotating magnetic field, so as to realize the swimming action of the robot. The structure and production process of the swimmer is introduced, and the simulation model is established based on Abaqus. Comparing finite element simulation and experimental results, the swimming characteristics of the robot are analyzed, and the influence of the frequency and strength of magnetic field on the swimming velocity is discussed. Furthermore, a modified line-of-sight navigation control method is adopted to improve the anti-disturbance ability of the swimmer, and a velocity fuzzy adaptive algorithm and head-to-tail switch control are proposed to realize the high accurate tracking of the complex path. The experimental results show that the proposed algorithm can overcome the disadvantages of the conventional line-of-sight navigation control with uniform velocity, such as missing of waypoints and the inability to relocate the path under certain situations, etc., and can reduce the error of path following. This work may provide a new idea for the precise control of the magnetic miniature swimmer.

Key words: miniaturized swimmer, magnetic control, magnetoelastic composite material, fuzzy adaptive control, path following

CLC Number:

TP242

XIANG Hongbiao, CHENG Xu, LI Mengwei, WANG Shoujun, ZHANG Mian, HUANG Xian, HUO Wenxing. Accurate Tracking Control of Magnetoelastic Elastic Miniature Swimmer under External Disturbance and Complex Path[J]. Journal of Mechanical Engineering, 2022, 58(7): 93-102.

References

[1] 张永顺,周华涛,张林霞,等. 一种新型双半球形胶囊机器人[J]. 机械工程学报,2017,53(15):110-118. ZHANG Yongshun,ZHOU Huatao,ZHANG Linxia,et al. A new kind of dual hemisphere capsule robot[J]. Journal of Mechanical Engineering,2017,53(15):110-118.
[2] 王田苗,郝雨飞,杨兴帮,等. 软体机器人:结构、驱动、传感与控制[J]. 机械工程学报,2017,53(13):1-13. WANG Tianmiao,HAO Yufei,YANG Xingbao,et al. Soft robotics:Structure,actuation,sensing and control[J]. Journal of Mechanical Engineering,2017,53(13):1-13.
[3] HU Wenqi,ISHII K S,OHTA A T. Micro-assembly using optically controlled bubble microrobots[J]. Applied Physics Letters,2011,99(9):094103.
[4] KHARBOUTLY M,GAUTHIER M,CHAILLET N. Modeling the trajectory of a micro particle in a dielectrophoresis device[J]. Journal of Applied Physics,2009,106(11):1-6.
[5] SOLOVEV A A,XI W,GRACIAS D H,et al. Self-propelled nanotools[J]. Acs Nano,2012,6(2):1751-1756.
[6] MARTEL S,FELFOUL O,MATHIEU J B,et al. MRI-based medical nanorobotic platform for the control of magnetic nanoparticles and flagellated bacteria for target interventions in human capillaries[J]. International Journal of Robotics Research,2009,28(9):1169-1182.
[7] HU Wenqi.,ZHAN L G,MASSIMO M,et al. Small-scale soft-bodied robot with multimodal locomotion[J]. Nature,2018,554(7690):81-85.
[8] 向红标,李岩,巴简程,等. 磁控微型软体爬行机器人运动特性[J]. 机械工程学报,2020,56(17):39-47. XIANG Hongbiao,LI Yan,BA Jiancheng,et al. Motion characteristics of magnetic control micro-soft crawling robot[J]. Journal of Mechanical Engineering,2020,56(17):39-47.
[9] XIANG Hongbiao,TRKOV M,YU K. A stick-slip interactions model of soft-solid frictional contacts[J]. Journal of Dynamic Systems,Measurement,and Control,2019,141(4):041015.
[10] HU C,JING H,WANG R,et al. Robust H-infinity output-feedback control for path following of autonomous ground vehicles[J]. Mechanical Systems and Signal Processing,2016,70-71:414-427.
[11] PENG Z,WANG J. Output-feedback path-following control of autonomous underwater vehicles based on an extended state observer and projection neural networks[J]. IEEE Transactions on Systems,Man,and Cybernetics:Systems,2017,48(4):535-544.
[12] NAEEM W,SUTTON R,AHMAD S M,et al. A review of guidance laws applicable to unmanned underwater vehicles[J]. Journal of Navigation,2003,56(1):15-29.
[13] GUAN Y,XU T,JIA L,et al. Image-based visual servoing of helical microswimmers for arbitrary planar path following at low Reynolds numbers[C]//2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2017,24-28.
[14] OULMAS A,ANDREFF N,REGNIER S. 3D closed-loop swimming at low Reynolds numbers[J]. Internatinal Journal of Robotics Research,2018,3(11):1359-1375.
[15] ZHANG J,DILLER E. Untethered miniature soft robots:Modeling and design of a millimeter-scale swimming magnetic sheet[J]. Soft Robotics,2018,5(6):761-776.
[16] XIANG Hongbiao,LI Mengwei,ZHANG Tilei,et al. Motion characteristics of untethered swimmer with magnetoelastic material[J]. Smart Materials and Structures,2021,30(7):075030.

Accurate Tracking Control of Magnetoelastic Elastic Miniature Swimmer under External Disturbance and Complex Path

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 7

Recommended Articles

Metrics

Comments

[1]	LIANG Yixiao, LI Yinong, KHAJEPOUR Amir, ZHENG Ling. Path Following Control for Four-wheel Drive Electric Intelligent Vehicle Based on Coordination between Steering and Direct Yaw Moment System [J]. Journal of Mechanical Engineering, 2021, 57(6): 142-155.
[2]	LIU Chenguang, CHU Xiumin, MAO Qingzhou, XIE Shuo. Adaptive Path Following Control System for Unmanned Surface Vehicles [J]. Journal of Mechanical Engineering, 2020, 56(8): 216-227.
[3]	XIANG Hongbiao, LI Yan, BA Jiancheng, WANG Shoujun, HUANG Xian, XU Hang. Motion Characteristics of Magnetic Control Micro-soft Crawling Robot [J]. Journal of Mechanical Engineering, 2020, 56(17): 39-47.
[4]	XIONG Lu, YANG Xing, ZHUO Guirong, LENG Bo, ZHANG Renxie. Review on Motion Control of Autonomous Vehicles [J]. Journal of Mechanical Engineering, 2020, 56(10): 127-143.
[5]	SUN Bangcheng, LIU Zhiming, CUI Tao, LI Minggao, LI Hong, WANG Wenjun. New Structure for Train-like Vehicle and Its Path Tracking Method [J]. Journal of Mechanical Engineering, 2018, 54(24): 181-188.
[6]	Zong Chaofan , Zeng Zhaowei , Zhao Haili , Dai Qiji . A Fuzzy Adaptive Longitudinal Differential Protection of Transformer and Its Simulation Study [J]. Journal of Electrical Engineering, 2015, 10(11): 33-38.
[7]	Su Yongqing;Xiao Yunshi;Zhao Keding. STUDY ON APPLICATION OF FUZZY ADAPTIVE CONTROL TO SYNCHRO-COMPENSATION FOR LOADING SIMULATOR [J]. , 2001, 37(7): 15-17，3.