Comparison of three types of closed-loop control for the 2D trajectory of a magnetic microswimmer

Benites Mozo Y.G.; Vela E.A. · Proceedings of the 2022 IEEE 29th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2022 (2022) · DOI: 10.1109/intercon55795.2022.9870100

Resumen

This work is about the comparison of three types of closed-loop controllers for the 2D navigation of magnetic microswimmers within a simulated environment that takes real physical parameters from the literature. We modeled the physical system in state space, then trajectories were generated using the A∗ algorithm. Discrete PID, LQR and MPC controllers were implemented in our simulations to be compared in terms of settling time, overshoot and error. Finally, the implementation of the LQR control algorithm is recommended due to its better overall performance. However, to be implemented, we also propose a redesign of the electromagnetic coils, that actuate the microswimmers, due to LQR's demand in control effort and current intensity.

Instituciones: Universidad de Ingeniería y Tecnología