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Towards Model-Based Control of Achiral Microswimmers

[+] Author Affiliations
U Kei Cheang, Minjun Kim

Drexel University, Philadelphia, PA

Milutinović Dejan

University of California, Santa Cruz, Santa Cruz, CA

Jongeun Choi

Michigan State University, East Lansing, MI

Paper No. DSCC2014-6136, pp. V002T33A002; 7 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4619-3
  • Copyright © 2014 by ASME


In this paper, we introduce the three bead achiral microswimmers controlled wirelessly using magnetic fields with the ability to swim in bulk fluid. The achirality of the microswimmer introduces unknown handedness of the microswimmer. Here, we propose to use a combination of rotating and static magnetic fields to eliminate the uncertainty in swimming direction. Our experimental results demonstrated excellent capability of direction control as well as agile movements. From the experimentally collected data, we estimated a control-oriented two-wheeled robot model. Finally, we design feedback control for microswimmers based on the estimated kinematic model. In particular, we show that the feedback control law moves the microswimmer from any initial conditions to a target set of microswimmer’s position and angle.

Copyright © 2014 by ASME



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