Balancing a 3D Inverted Pendulum using Remote Magnetic Manipulation
CoRR(2024)
摘要
Remote magnetic manipulation offers wireless control over magnetic objects,
which has important medical applications, such as targeted drug delivery and
minimally invasive surgeries. Magnetic manipulation systems are categorized
into systems using permanent magnets and systems based on electromagnets.
Electro-Magnetic Navigation Systems (eMNSs) are believed to have a superior
actuation bandwidth, facilitating trajectory tracking and disturbance
rejection. This greatly expands the range of potential medical applications and
includes even dynamic environments as encountered in cardiovascular
interventions. In order to highlight the dynamic capabilities of eMNSs, we
successfully stabilize a (non-magnetic) inverted pendulum on the tip of a
magnetically driven arm. Our method employs a model-based design approach,
where we capture the dynamics that describe the interaction of the pendulum
system and the magnetic field through Lagrangian mechanics. Using system
identification we estimate the system parameters, the actuation bandwidth, and
characterize the system's nonlinearity. We design a state-feedback controller
to stabilize the inherently unstable dynamics, and compensate for errors
arising from the calibration of the magnetic field and the angle measurement
system. Additionally, we integrate an iterative learning control scheme that
allows us to accurately track non-equilibrium trajectories while concurrently
maintaining stability of the inverted pendulum. To our knowledge, this is the
first effort to stabilize a 3D inverted pendulum through remote magnetic
manipulation.
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