Combined Magnetic Field Decoupling and Disturbance Rejection Control of Microrobots Based on Extended State Observer

Abstract

Magnetic microrobots are potentially used in various biomedical applications due to their distinguished properties in bio-related manipulation such as minimally invasive and accessible in complex bio-environment. Precise path tracking control of magnetic microrobots in complex interference is an important but challenging step to achieve desirable applications. In this letter, a decoupling and disturbance rejection control algorithm based on Extended State Observer (ESO) is proposed to solve the combined magnetic field coupling and complex environmental interference in the path tracking process of the microrobots. The proposed algorithm was verified by both numerical simulations and experiments. The results show that the combined magnetic field decoupling and environmental interference suppression in the path tracking control process of the microrobots can be realized via the proposed algorithm, and the average path tracking errors of the microrobots is less than 0.12 mm, and the root mean square error(RMSE) is less than 0.09 mm. Compared with traditional control methods, the proposed method shows higher path tracking control accuracy of microrobots.