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Optimal motion control of three-sphere based low-Reynolds number swimming microrobot

Published online by Cambridge University Press:  02 September 2021

Hossein Nejat Pishkenari Open the ORCID record for Hossein Nejat Pishkenari [Opens in a new window]  and
Matin Mohebalhojeh
Hossein Nejat Pishkenari*
Affiliation:
Nano-Robotics Laboratory, Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran
Matin Mohebalhojeh
Affiliation:
Nano-Robotics Laboratory, Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran
*
*Corresponding author. E-mail: nejat@sharif.edu
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Abstract

Microrobots with their promising applications are attracting a lot of attention currently. A microrobot with a triangular mechanism was previously proposed by scientists to overcome the motion limitations in a low-Reynolds number flow; however, the control of this swimmer for performing desired manoeuvres has not been studied yet. Here, we have proposed some strategies for controlling its position. Considering the constraints on arm lengths, we proposed an optimal controller based on quadratic programming. The simulation results demonstrate that the proposed optimal controller can steer the microrobot along the desired trajectory as well as minimize fluctuations of the actuators length.

Keywords

MicrorobotSwimmerLow-Reynolds numberDynamic ModelingOptimal Control
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1257 - 1273
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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