Robust Navigation Control of a Microrobot With Hysteresis Compensation

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Number of pages10
Journal / PublicationIEEE Transactions on Automation Science and Engineering
Online published30 Aug 2021
Publication statusOnline published - 30 Aug 2021


Navigation control of microrobots in vivo has great potential in precision medicine and has attracted considerable attention in recent years. The control performance of the existing methods is considerably affected by hysteresis nonlinearity. This article presents a robust control method that can overcome hysteresis influence in navigating a microrobot actuated by an electromagnetic coil system. A motion planner that combines the breadth-first search (BFS) method and genetic algorithm (GA) is used to plan a reliable and flexible trajectory for the microrobot navigation. To compensate for hysteresis nonlinearity existing in the system, the Prandtl-Ishlinskii (PI) model is introduced. A robust controller that integrates adaptive sliding mode control (ASMC) and nonlinear disturbance observer is designed to guarantee the stability and accuracy of the microrobot in motion. Experiments have been performed to demonstrate the effectiveness of the proposed approach. The success of this research will advance the microrobot navigation for in vivo applications.

Research Area(s)

  • Magnetic hysteresis, Force, Electromagnetics, Navigation, Uncertainty, Magnetic cores, In vivo, Hysteresis compensation, microrobot, motion planning, robust control, DISEASE, CANCER