Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode Control

Yihang Wu; Ziyao Qu; Xiaocong Chang; Zhijian Hu; Rongni Yang; Renjie Ma

doi:10.1109/IECON51785.2023.10311964

Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode Control

Yihang Wu
, Ziyao Qu
, Xiaocong Chang
, Zhijian Hu
, Rongni Yang
, Renjie Ma^*

^*Corresponding author for this work

School of Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Microrobots can work in small, enclosed spaces and complete complex tasks. It has potential applications in the field of biomedical and life sciences. This paper focuses on investigating robust dynamic tracking for electromagnetic-actuated microrobot via sliding mode control. First, we generalize the planar motion to the case of spatial trajectory tracking and then establish the three-dimensional tracking error model of microrobot. Then, we deploy a novel sliding control strategy and ensure the stability of sliding mode dynamics, once the robotic state reaches the sliding surface and sustains there in the sequel. Finally, the numerical simulation is conducted, compared to the traditional proportion-integration-differentiation control strategy, to verify the effectiveness and advantages of our proposed control scheme.

Original language	English
Title of host publication	IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
ISBN (Electronic)	9798350331820
DOIs	https://doi.org/10.1109/IECON51785.2023.10311964
State	Published - 2023
Event	49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 - Singapore, Singapore Duration: 16 Oct 2023 → 19 Oct 2023

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
ISSN (Print)	2162-4704
ISSN (Electronic)	2577-1647

Conference

Conference	49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023
Country/Territory	Singapore
City	Singapore
Period	16/10/23 → 19/10/23

Keywords

Electromagnetic-actuated microrobot
dynamic tracking
robust control
sliding mode control
stability analysis

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10.1109/IECON51785.2023.10311964

Cite this

@inproceedings{df83ae4a52f04c9d9dc93744a8e79839,

title = "Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode Control",

abstract = "Microrobots can work in small, enclosed spaces and complete complex tasks. It has potential applications in the field of biomedical and life sciences. This paper focuses on investigating robust dynamic tracking for electromagnetic-actuated microrobot via sliding mode control. First, we generalize the planar motion to the case of spatial trajectory tracking and then establish the three-dimensional tracking error model of microrobot. Then, we deploy a novel sliding control strategy and ensure the stability of sliding mode dynamics, once the robotic state reaches the sliding surface and sustains there in the sequel. Finally, the numerical simulation is conducted, compared to the traditional proportion-integration-differentiation control strategy, to verify the effectiveness and advantages of our proposed control scheme.",

keywords = "Electromagnetic-actuated microrobot, dynamic tracking, robust control, sliding mode control, stability analysis",

author = "Yihang Wu and Ziyao Qu and Xiaocong Chang and Zhijian Hu and Rongni Yang and Renjie Ma",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 ; Conference date: 16-10-2023 Through 19-10-2023",

year = "2023",

doi = "10.1109/IECON51785.2023.10311964",

language = "英语",

series = "IECON Proceedings (Industrial Electronics Conference)",

publisher = "IEEE Computer Society",

booktitle = "IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society",

address = "美国",

}

Wu, Y, Qu, Z, Chang, X, Hu, Z, Yang, R & Ma, R 2023, Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode Control. in IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society. IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023, Singapore, Singapore, 16/10/23. https://doi.org/10.1109/IECON51785.2023.10311964

Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode Control. / Wu, Yihang; Qu, Ziyao; Chang, Xiaocong et al.
IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2023. (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode Control

AU - Wu, Yihang

AU - Qu, Ziyao

AU - Chang, Xiaocong

AU - Hu, Zhijian

AU - Yang, Rongni

AU - Ma, Renjie

PY - 2023

Y1 - 2023

N2 - Microrobots can work in small, enclosed spaces and complete complex tasks. It has potential applications in the field of biomedical and life sciences. This paper focuses on investigating robust dynamic tracking for electromagnetic-actuated microrobot via sliding mode control. First, we generalize the planar motion to the case of spatial trajectory tracking and then establish the three-dimensional tracking error model of microrobot. Then, we deploy a novel sliding control strategy and ensure the stability of sliding mode dynamics, once the robotic state reaches the sliding surface and sustains there in the sequel. Finally, the numerical simulation is conducted, compared to the traditional proportion-integration-differentiation control strategy, to verify the effectiveness and advantages of our proposed control scheme.

AB - Microrobots can work in small, enclosed spaces and complete complex tasks. It has potential applications in the field of biomedical and life sciences. This paper focuses on investigating robust dynamic tracking for electromagnetic-actuated microrobot via sliding mode control. First, we generalize the planar motion to the case of spatial trajectory tracking and then establish the three-dimensional tracking error model of microrobot. Then, we deploy a novel sliding control strategy and ensure the stability of sliding mode dynamics, once the robotic state reaches the sliding surface and sustains there in the sequel. Finally, the numerical simulation is conducted, compared to the traditional proportion-integration-differentiation control strategy, to verify the effectiveness and advantages of our proposed control scheme.

KW - Electromagnetic-actuated microrobot

KW - dynamic tracking

KW - robust control

KW - sliding mode control

KW - stability analysis

UR - https://www.scopus.com/pages/publications/85179523154

U2 - 10.1109/IECON51785.2023.10311964

DO - 10.1109/IECON51785.2023.10311964

M3 - 会议稿件

AN - SCOPUS:85179523154

T3 - IECON Proceedings (Industrial Electronics Conference)

BT - IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society

PB - IEEE Computer Society

T2 - 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

Y2 - 16 October 2023 through 19 October 2023

ER -

Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode Control

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