Steering a Ferromagnetic Particle by Optimal Magnetic Feedback Control


A class of feedback control policies for steering a magnetic particle in a viscous fluid and actuated by a magnetic field is presented. The magnetic field which is generated by an array of electromagnets can be adequately shaped by controlling the voltages of the electromagnets. Control design relies on a dynamical model which exploits the low-pass character of the electromagnets, the opposing viscous drag on the magnetic particle, and the nonlinear (quadratic) nature of the dependence of the magnetic force on the electrical currents passing through the electromagnets. It is shown that under a set of practically achievable conditions, the nonlinearity of the model can be canceled by incorporating an inverse nonlinear map in the controller so that the closed-loop system operates like a linear system. A systematic framework for determining an optimal inverse map and investigating its properties is developed and two important cases of minimum control effort and maximum robustness are discussed. The ability to control the magnetic particle along arbitrary trajectories is verified both in simulations and in an experiment.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE :Steering of Multisegment Continuum Manipulators Using Rigid-Link Modeling and FBG-Based Shape SensingABSTRACT:Correct closed-loop control of continuum manipulators needs integration of both models that describe
PROJECT TITLE :Development of Multisegment Steering Mechanism and 3-D Panorama for Automated Bladder Surveillance SystemABSTRACT:A cystoscope is an invaluable tool for bladder cancer surveillance and lower urinary tract pathology
PROJECT TITLE :Design, Control, and Validation of a Charge-Sustaining Parallel Hybrid BicycleABSTRACT:Traffic congestion, energy, and environmental concerns are boosting the interest for light electric vehicles. Electrically power-assisted
PROJECT TITLE :Optimal Steering of a Linear Stochastic System to a Final Probability Distribution, Part IIABSTRACT:We address the matter of steering the state of a linear stochastic system to a prescribed distribution over a finite
PROJECT TITLE :20 Gb/s Mobile Indoor Visible Light Communication System Employing Beam Steering and Computer Generated HologramsABSTRACT:Visible light-weight communication (VLC) systems have typically operated at data rates below

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry