Modeling and Estimation of Self-Phoretic Magnetic Janus Microrobot With Uncontrollable Inputs

David Folio (1, 2) , Antoine Ferreira (1, 2)

1 PRISME - Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique
2 INSA CVL - Institut National des Sciences Appliquées - Centre Val de Loire

This study theoretically investigates the modeling of spherical catalytic self-phoretic magnetic Janus microrobot (MJR) evolving in uniform viscous flow. A 2-D state-space representation of the MJR is developed, exhibiting a state-dependent-coefficient (SDC) form. To evaluate the consistency of the modeling formalism, a dual Kalman filter (DKF) methodology is employed with respect to experimental results when unknown parameters or uncontrollable inputs are considered. In fact, the self-phoretic thrust mechanism and the magnetodynamics of the MJR are not well-known. SDC-DKF is implemented, and we find that there is good agreement between the dynamics computed from our theoretical predictions and the experimental observations in a wide range of model parameter variations.

Mots clés: Janus particle; magnetic microrobot; modeling; state-space representation; dual Kalman filtering

Domaines: Automatique / Robotique

David Folio, Antoine Ferreira. Modeling and Estimation of Self-Phoretic Magnetic Janus Microrobot With Uncontrollable Inputs. IEEE Transactions on Control Systems Technology, 2022, pp.1-8. ⟨10.1109/TCST.2021.3139192⟩. ⟨hal-03523208⟩