Robust Control Strategy of Acoustic Micro Robots Based on Fuzzy System

摘要

This study presents a robust control strategy for acoustic micro robots utilizing a novel interval type-three fuzzy system. Micro robots driven by acoustic forces face significant challenges in fluid environments due to complex nonlinearities, uncertainties, and disturbances. To address these issues, we propose a control framework that combines fuzzy logic and sliding mode control to enhance the stability and trajectory tracking performance of micro robots under varying fluid conditions. The interval type-3 fuzzy logic system provides increased robustness by better handling external disturbances and uncertainties compared to the robustness of the traditional methods. The experimental results from one-dimensional, two-dimensional, and three-dimensional fluid cavities demonstrate that the proposed control method significantly improves tracking accuracy, reducing the errors in complex environments. This control framework offers promising potential for the precise manipulation of micro robots in biomedical applications and other microfluidic systems. The minimum trajectory tracking control mean square error is 12.82 μm.