Data-Driven Control for a Milli-Scale Spiral-Type Magnetic Swimmer using MPC
Haoran Zhao,Yitong Lu,Aaron T. Becker,Julien Leclerc,Haoran Zhao,Yitong Lu,Aaron T. Becker,Julien Leclerc
This paper presents four data-driven system models for a magnetically controlled swimmer. The models were derived directly from experimental data, and the accuracy of the models was experimentally demonstrated. Our previous study successfully implemented two non-model-based control algorithms for 3D path-following using PID and model reference adaptive controller (MRAC). This paper focuses on syst...
