Modeling and Estimation of Self-Phoretic Magnetic Janus Microrobot With Uncontrollable Inputs

@article{folio2022,
  author = {Folio, David and Ferreira, Antoine},
  publisher = {IEEE},
  title = {Modeling and {Estimation} of {Self-Phoretic} {Magnetic}
    {Janus} {Microrobot} {With} {Uncontrollable} {Inputs}},
  journal = {IEEE Transactions on Control Systems Technology},
  volume = {30},
  number = {6},
  pages = {2681-2688},
  date = {2022-11-01},
  url = {https://ieeexplore.ieee.org/document/9678101},
  doi = {10.1109/TCST.2021.3139192},
  issn = {1558-0865},
  langid = {en-US},
  abstract = {This study theoretically investigates the modeling of
    spherical catalytic self-phoretic magnetic Janus microrobot (MJR)
    evolving in uniform viscous flow. A 2-D state-space representation
    of the MJR is developed, exhibiting a state-dependent-coefficient
    (SDC) form. To evaluate the consistency of the modeling formalism, a
    dual Kalman filter (DKF) methodology is employed with respect to
    experimental results when unknown parameters or uncontrollable
    inputs are considered. In fact, the self-phoretic thrust mechanism
    and the magnetodynamics of the MJR are not well-known. SDC-DKF is
    implemented, and we find that there is good agreement between the
    dynamics computed from our theoretical predictions and the
    experimental observations in a wide range of model parameter
    variations.}
}