NDLI: Model Predictive Control of a Magnetically Guided Rolling Microrobot

Content Provider	IEEE Xplore Digital Library
Author	Pieters, R. Lombriser, S. Alvarez-Aguirre, A. Nelson, B.J.
Copyright Year	2016
Abstract	In this work, we present a model predictive control (MPC) approach to the motion control of a nonholonomic rolling microrobot. The mobile microrobot is designed to follow a rotating magnetic field such that it rolls on a supporting surface in a low Reynold’s number liquid environment. The MPC framework takes the nonholonomic and kinematic constraints of the microrobot and the actuation limitations of the system into account for the task of trajectory tracking and obstacle avoidance. We verify our approach by presenting a simulation study and experimental results with an 8-coil electromagnetic actuation system.
Sponsorship	RAS
Starting Page	455
Ending Page	460
Page Count	6
File Size	1220883
File Format	PDF
ISSN	23773766
Volume Number	1
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2016-01-01
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optimization Magnetic materials Photonic crystals Robots Predictive control Collision avoidance collision avoidance Micro/nano robots optimization and optimal control magnetic manipulation visual tracking
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Control and Systems Engineering Mechanical Engineering Human-Computer Interaction Biomedical Engineering Computer Vision and Pattern Recognition Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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