This paper studies the swimming and control effectiveness of a 4-link artificial eukaryotic flagellum (AEF) swimming microrobot through hardware-in-the-loop (HIL) experiments, which are executed in an environment characterized by high mechanical stress. The tested HIL experiment consists of a simulator of the robot, developed in the MATLAB/ Simulink environment, and a microcontroller Atmel ATmega32u4, where the control of the robot is programmed. Data exchange between the simulator and microcontroller is carried out through serial protocol via universal asynchronous receiver-transmitter (UART). For comparison purposes, two control strategies, namely fractional order proportional-derivative (PD\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$^{\mu }$$\end{document}) and integer order proportional-integral-derivative (PID) controllers, are considered for the robot to emulate a non-reciprocal motion. Two types of these controllers are implemented and evaluated.
Evaluating an AEF Swimming Microrobot Using a Hardware-in-the-loop Testbed
Advs in Intelligent Syst., Computing
Iberian Robotics conference ; 2019 ; Porto, Portugal November 20, 2019 - November 22, 2019
20.11.2019
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Magnetic driving principle of a swimming microrobot [4414-52]
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