IEEE - Institute of Electrical and Electronics Engineers, Inc. - Model Predictive Control of a Magnetically Guided Rolling Microrobot

Author(s): Roel Pieters ; Sievi Lombriser ; Alejandro Alvarez-Aguirre ; Bradley J. Nelson
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2016
Volume: 1
Page(s): 455 - 460
ISSN (CD): 2377-3774
ISSN (Online): 2377-3766
DOI: 10.1109/LRA.2016.2521407
Regular:

In this work, we present a model predictive control (MPC) approach to the motion control of a nonholonomic rolling microrobot. The mobile microrobot is designed to follow a rotating magnetic field... View More

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