Abstract
This paper studies the swimming and control effectiveness of a 4-link artificial eukaryotic flagellum (AEF) swimming microrobot through hardware-in-the-loop (HIL) experiments, which are executed in an environment characterized by high mechanical stress. The tested HIL experiment consists of a simulator of the robot, developed in the MATLAB/ Simulink environment, and a microcontroller Atmel ATmega32u4, where the control of the robot is programmed. Data exchange between the simulator and microcontroller is carried out through serial protocol via universal asynchronous receiver-transmitter (UART). For comparison purposes, two control strategies, namely fractional order proportional-derivative (PD\(^{\mu }\)) and integer order proportional-integral-derivative (PID) controllers, are considered for the robot to emulate a non-reciprocal motion. Two types of these controllers are implemented and evaluated.
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Acknowledgments
This work has been supported in part by the Spanish Agencia Estatal de Investigación (AEI) under the project DPI2016-80547-R (Ministerio de Economía y Competitividad), in part by the Consejería de Economía e Infraestructuras (Junta de Extremadura) under the grant “Ayuda a Grupos de Investigación de Extremadura” (no. GR18159) and the project IB18109, and in part by the European Social Fund (FEDER, EU) and the European Regional Development Fund “A way to make Europe”. José Emilio Traver would like to thank the Ministerio de Educación, Cultura y Deporte its support through the scholarship no. FPU16/2045 of the FPU Program. Cristina Nuevo-Gallardo would like to thank University of Extremadura its support through the scholarship “Plan Propio de Iniciación a la Investigación, Desarrollo Tecnológico e Innovación 2018”.
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Traver, J.E., Tejado, I., Nuevo-Gallardo, C., Prieto-Arranz, J., López, M.A., Vinagre, B.M. (2020). Evaluating an AEF Swimming Microrobot Using a Hardware-in-the-loop Testbed. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1093. Springer, Cham. https://doi.org/10.1007/978-3-030-36150-1_43
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