TY - GEN
T1 - Optimal control of a 3-axis helmholtz coils system for generation of dynamic magnetic field waveforms with high accuracy
AU - Yang, Lidong
AU - Zhang, Li
N1 - Funding Information:
This work was partially supported by the RGC General Research Fund (GRF) with Project No. 14209514, 14203715 and 14218516 funded by the Research Grants Council (RGC) of Hong Kong, and ITC Mistream Research Programme (MRP), MRP/036/18X.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - Tri-axis Helmholtz coils systems have been widely used for actuation and motion control of magnetic microrobots. This paper addresses the dynamic control of a lab-made 3- axis Helmholtz coils system in order to offer precise dynamic actuation for magnetic microrobots. This paper proposes an optimal control scheme based on model predictive control (MPC), and the objective is to improve the tracking performance for different forms of dynamic magnetic fields. In the control scheme, the system dynamics is approximated by a nominal model which is obtained by system identification, and the modeling uncertainties and external disturbances are lumped together and estimated by a disturbance observer (DOB) which provides the control robustness. The high-accuracy dynamic tracking is achieved by implementing a MPC controller based on the nominal system model. To validate the effectiveness of the proposed control scheme, simulations and experiments using the proposed control scheme with control frequency of 25 kHz are conducted on the lab-made 3-axis Helmholtz coils system. The results show significantly improved field generation performances and the system can accurately track different types of field waveforms.
AB - Tri-axis Helmholtz coils systems have been widely used for actuation and motion control of magnetic microrobots. This paper addresses the dynamic control of a lab-made 3- axis Helmholtz coils system in order to offer precise dynamic actuation for magnetic microrobots. This paper proposes an optimal control scheme based on model predictive control (MPC), and the objective is to improve the tracking performance for different forms of dynamic magnetic fields. In the control scheme, the system dynamics is approximated by a nominal model which is obtained by system identification, and the modeling uncertainties and external disturbances are lumped together and estimated by a disturbance observer (DOB) which provides the control robustness. The high-accuracy dynamic tracking is achieved by implementing a MPC controller based on the nominal system model. To validate the effectiveness of the proposed control scheme, simulations and experiments using the proposed control scheme with control frequency of 25 kHz are conducted on the lab-made 3-axis Helmholtz coils system. The results show significantly improved field generation performances and the system can accurately track different types of field waveforms.
UR - http://www.scopus.com/inward/record.url?scp=85074277668&partnerID=8YFLogxK
U2 - 10.1109/AIM.2019.8868540
DO - 10.1109/AIM.2019.8868540
M3 - Conference article published in proceeding or book
AN - SCOPUS:85074277668
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1193
EP - 1198
BT - Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
Y2 - 8 July 2019 through 12 July 2019
ER -