Time Delay Estimation for Control of Microrobots under Uncertainties

Abstract

Accurate control is necessary to enhance the practical usage of microrobots during in-vivo applications to achieve their goal. Electromagnetic in-vivo manipulation of microrobots in a low Reynolds number flow imposes uncertainties and nonlinearities which cannot be completely known and modeled to the robot dynamics. This paper presents a controller based on time delay estimation (TDE) of uncertainties. The controller does not use any information of the system and estimates the unknown terms. Our Simulation shows that the TDE controller is robust for magnetic steering of microrobots. Experiments demonstrate the successful simulation results and the ability of the simply implementable control scheme by step inputs and complex paths.