Designing Model-Independent Controllers for Diagonally Configured Magnetic Microrobot Systems

Magnetic microrobotic systems include robotic manipulation of objects with characteristic dimensions in the millimeter to micrometer range for various promising applications in biomedical and micro-manufacturing industries. In this work, a bias current-based controller, a PI-based controller, and an active disturbance rejection controller are designed and implemented for efficient control performances. The system has more inputs than outputs, and the inputs are nonlinear. The proposed model-independent controllers are able to linearize the input nonlinearities and decouple the control currents of the 1D, 2D, and 3D magnetic micromanipulators. It is shown that the controllers provide a guaranteed asymptotic stability of the magnetic microrobot, fast and non-overshoot transient responses, and virtually zero steady-state tracking error.