Autonomous navigation and control of magnetic microcarriers using potential field algorithm and adaptive non-linear...

Area of Science:

• Biomedical Engineering
• Control Systems
• Nanotechnology

Background:

• Microparticles are vital drug carriers, requiring precise navigation within the body.
• Controlling microparticle trajectory amidst environmental disturbances remains a significant challenge.

Purpose of the Study:

• To develop and validate an Adaptive Nonlinear PID (A-NPID) controller for autonomous microparticle trajectory tracking.
• To address the limitations of traditional controllers in dynamic environments.

Main Methods:

• Generated collision-free trajectories using path-planning algorithms.
• Derived microparticle dynamics under external forces.
• Designed and implemented an A-NPID control law for autonomous navigation.
• Conducted in-vitro experiments with a 100 µm microparticle in a fluidic reservoir.

Main Results:

• The A-NPID controller enabled autonomous navigation along a predefined collision-free path.
• Achieved minimal steady-state error of 4 µm in reaching the target position.
• Demonstrated superior performance compared to a standard PID controller, which showed performance degradation.

Conclusions:

• The A-NPID controller offers robust and accurate trajectory tracking for microparticles in complex environments.
• This adaptive control strategy enhances the reliability of microparticle-based drug delivery systems.
• Experimental and simulation results confirm the effectiveness of the proposed A-NPID controller.