Robust 3-D Path Following Control Framework for Magnetic Helical Millirobots Subject to Fluid Flow and Input...

Area of Science:

• Robotics
• Control Systems Engineering
• Biomedical Engineering

Background:

• Precise trajectory control of magnetic helical millirobots is crucial for in vivo therapies.
• Challenges include complex fluid dynamics and input saturation, hindering accurate 3-D path following.

Purpose of the Study:

• To develop a robust 3-D path following control framework for magnetic helical millirobots.
• To address disturbances from fluid flow and input constraints for autonomous navigation.

Main Methods:

• Established a kinematic model for the magnetic helical millirobot using a 3-D hand position approach.
• Implemented a disturbance observer for finite-time perturbation estimation.
• Designed an adaptive finite-time sliding mode controller with an auxiliary system to mitigate disturbances and ensure precise path tracking.

Main Results:

• The proposed framework demonstrated effective disturbance estimation and mitigation.
• Achieved precise 3-D path tracking with fast convergence and reduced chattering.
• Experimental validation confirmed the approach's efficacy in control accuracy and convergence time.

Conclusions:

• The developed control framework significantly improves the 3-D path following capabilities of magnetic helical millirobots in fluid environments.
• The adaptive finite-time sliding mode control strategy offers a robust solution for autonomous navigation in challenging conditions.
• This advancement holds promise for enhancing the safety and efficacy of in vivo therapeutic applications.