DEVELOPMENT OF A NEW CONTROL ALGORITHM FOR PLANAR PATH FOLLOWING OF BIOMIMETIC HELICAL SWIMMER ROBOT

Nowadays. the problem of controlling miniature sized untethered robots in viscous fluid is challenging in biomedical and industrial investigations. Mobility and maneuverability of these bio inspired robots are highly affected by modeling and actuation mechanism. Different types of helical micro/macro swimmers,inspired by flagellar motion of sperm shaped or bacteria- like microorganism in nature has been designed and analyzed. However, they are mostly employing external actuation as their propulsion system and the tracking control methods is not fully defined for internal actuated helical robots.Hydrodynamics modeling of a new designed helical swimmer robot with capability of changing its flagellum angle is expressed in this paper. Then problem of planar path following of an intemal actuated helical swimmer in viscous fluid is addressed. To achieve this goal, at first, by profiting the ability of a new designed swimmer which can change its flagellum in x-y plane to perform precise clockwise or counterclockwise maneuvers, we develop an imiovative unique tracking algorithm for macro size swimmer robot. The proposed control algorithm estimates the required value of control input for each individual path then the comparison between On-Off controller and the presented control method is impletnented. The results indicate that the designed controller has least errors with good performance in different paths.

Keywords:

Scaled-up helical swimmer , Hydrodynamics modeling , Path following , On-off controller