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Robust Control Strategy of Acoustic Micro Robots Based on Fuzzy System
1School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.
Micromachines
|November 27, 2024
Summary
This study introduces a robust control strategy for acoustic micro robots using an interval type-3 fuzzy system. This novel approach enhances trajectory tracking and stability in complex fluid environments.
Area of Science:
- Robotics
- Control Systems
- Fluid Dynamics
Background:
- Acoustic micro robots face challenges in fluid environments due to nonlinearities and uncertainties.
- Precise control is crucial for micro robot applications in microfluidics and biomedicine.
Purpose of the Study:
- To develop a robust control strategy for acoustic micro robots.
- To improve stability and trajectory tracking performance in complex fluid conditions.
Main Methods:
- A control framework combining fuzzy logic and sliding mode control was developed.
- An interval type-3 fuzzy logic system was utilized for enhanced robustness.
- Experiments were conducted in 1D, 2D, and 3D fluid cavities.
Main Results:
- The proposed control method significantly improved tracking accuracy.
- Reduced errors were observed in complex fluid environments.
- The minimum trajectory tracking control mean square error achieved was 12.82 μm.
Conclusions:
- The interval type-3 fuzzy system enhances robustness against disturbances and uncertainties.
- The developed control framework offers potential for precise micro-manipulation.
- This strategy is promising for biomedical and microfluidic applications.
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