Local Controllability, Trajectory Planning, and Stabilization of a Two-Agent Underactuated Microrobotic System

Matthieu Fruchard (1, 2) , Lounis Sadelli (1, 2) , Antoine Ferreira (1, 2)

1 PRISME - Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique
2 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]

Multi-microagent systems are appealing to perform targeted therapy, biosensing and diagnosis. However on most magnetic platforms, the magnetic field is stationary so all the robots experience the same control input, resulting in an underactuated system. However, to date, the controllability of underactuated microsystems had hardly been addressed. This paper thus investigates the system local controllability. This result highlights the necessity for the agents to operate in close vicinity to achieve trajectory tracking along an admissible reference trajectory whose choice is discussed. We then propose a backstepping controller to locally stabilize the nonlinear system. Simulations illustrate this approach efficiency and limitations for different designs of the microrobotic system.

Mots clés: Controllability; Underactuated multi-agent system; Microrobotics; Medical control system synthesis

Domaines: Automatique / Robotique; Système multi-agents [cs.MA]

Matthieu Fruchard, Lounis Sadelli, Antoine Ferreira. Local Controllability, Trajectory Planning, and Stabilization of a Two-Agent Underactuated Microrobotic System. IEEE Systems Journal, 2020, 14 (2), pp.2892-2900. ⟨10.1109/JSYST.2019.2942780⟩. ⟨hal-03268393⟩