Adaptive control of a legged capsular microrobot based on Lyapunov stability criteria

被引：2

作者：

Db, R. Nadafi ^{[1
]}

Nejad, S. Nazari ^{[2
]}

Kabganian, M. ^{[3
]}

Djadid, A. Dinparast ^{[2
]}

机构：

[1] Amirkabir Univ Technol, New Technol Res Ctr, Tehran, Iran

[2] Amirkabir Univ Technol, Dept Mech Engn, Tehran, Iran

[3] Univ Waterloo, Dept Elect & Comp Engn, Waterloo, ON N2L 3G1, Canada

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2012年 / 226卷 / C4期

关键词：

microrobot; ionic polymer metal composite; surface adhesion; adaptive control; Lyapunov stability; ADHESION;

D O I：

10.1177/0954406211417940

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this article, in order to develop endoscopic capsular, a capsular microrobot was designed with polymeric legs. The locomotion of the microrobot is modelled by considering surface forces and the microactuator model. The microrobot is controlled with an adaptive control algorithm. We exerted surface forces containing sliding friction and surface adhesion. Polymeric microactuator is an ionic polymer metal composite. The time-variant response of the polymeric microactuator is modelled based on a set of coupled electromechanical equations and an electric equivalent bulk of polymeric gel. The model reference adaptive control was constituted for precise position control of the microrobot. For the uncertainty parameter, the simulation of the microrobot's dynamical model was obtained.

引用

页码：887 / 899

页数：13

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