ICRA 2012 Paper Abstract

Close

Paper WeB06.2

Marino, Hamal (Scuola Superiore Sant'Anna), Bergeles, Christos (ETH Zurich), Nelson, Bradley J. (ETH Zurich)

Robust H-Infinity Control for Electromagnetic Steering of Microrobots

Scheduled for presentation during the Regular Session "Micro and Nano Robots II" (WeB06), Wednesday, May 16, 2012, 10:45−11:00, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Micro and Nanoscale Automation, Robust/Adaptive Control of Robotic Systems, Micro/Nano Robots

Abstract

Electromagnetic systems for in vivo microrobot steering have the potential to enable new types of localized and minimally invasive interventions. Accurate control of microrobots in natural fluids requires precise, high-bandwidth localization and accurate knowledge of the steering systemís parameters. However, current in vivo imaging methodologies, such as fluoroscopy, must be used at low update rates to minimize radiation exposure. Low frame rates introduce localization uncertainties. Additionally, the parameters of the electromagnetic steering system are estimated with inaccuracies. These uncertainties can be addressed with robust H-infinity control, which is investigated in this paper. The controller is based on a linear uncertain dynamical model of the steering system and microrobot. Simulations show that the proposed control scheme accounts for modeling uncertainties, and that the controller can be used for servoing in low viscosity fluids using low frame rates. Experiments in a prototype electromagnetic steering system support the simulations.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2017 PaperCept, Inc.
Page generated 2017-10-24  00:29:41 PST  Terms of use