Towards model-based control of achiral microswimmers

U. Kei Cheang, Milutinović Dejan, Jongeun Choi, Minjun Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)


In this paper, we introduce the three bead achiral microswimmers controlled wirelessly using magnetic fields with the ability to swim in bulk fluid. The achirality of the microswimmer introduces unknown handedness of the microswimmer. Here, we propose to use a combination of rotating and static magnetic fields to eliminate the uncertainty in swimming direction. Our experimental results demonstrated excellent capability of direction control as well as agile movements. From the experimentally collected data, we estimated a control-oriented two-wheeled robot model. Finally, we design feedback control for microswimmers based on the estimated kinematic model. In particular, we show that the feedback control law moves the microswimmer from any initial conditions to a target set of microswimmer's position and angle.

Original languageEnglish
Title of host publicationDynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791846193
Publication statusPublished - 2014
EventASME 2014 Dynamic Systems and Control Conference, DSCC 2014 - San Antonio, United States
Duration: 2014 Oct 222014 Oct 24

Publication series

NameASME 2014 Dynamic Systems and Control Conference, DSCC 2014


OtherASME 2014 Dynamic Systems and Control Conference, DSCC 2014
Country/TerritoryUnited States
CitySan Antonio

Bibliographical note

Publisher Copyright:
Copyright © 2014 by ASME.

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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