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Previously, we developed a 3D path following algorithm to improve the microrobot performances to overcome the modeling errors and environmental disturbances in order to perform real tasks, tested experimentally in a scaled-up helical microswimmer. In this paper, we show that adapting the propulsion mode, the general path following algorithm can be used for any microswimmer behaving as a nonholonomic...
The problem of 3D path following of nonholonomic systems in closed-loop is addressed. The kinematic model in a local coordinate system using a Serret-Frenet frame with sideslip and attack angles is used to express the motion of the robot. A new derivation of the chained form with five states and three inputs is developed to linearize the kinematic model of the robot in order to design a decoupled...
This paper addresses the problem of 3D path following of magnetic helical microswimmers in closed-loop. An error kinematic model in a local frame with sideslip and attack angles is used to express the motion of the helical microswimmer. A new derivation of the chained form with three inputs and five states is used to linearize the kinematic model in order to design a decoupled stable control. In experimentation,...