{"id":"https://openalex.org/W3197376382","doi":"https://doi.org/10.1109/tase.2021.3106022","title":"Robust Navigation Control of a Microrobot With Hysteresis Compensation","display_name":"Robust Navigation Control of a Microrobot With Hysteresis Compensation","publication_year":2021,"publication_date":"2021-08-30","ids":{"openalex":"https://openalex.org/W3197376382","doi":"https://doi.org/10.1109/tase.2021.3106022","mag":"3197376382"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2021.3106022","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3106022","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038173685","display_name":"Yuanjun Jia","orcid":"https://orcid.org/0000-0001-6932-4052"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["CN","HK"],"is_corresponding":true,"raw_author_name":"Yuanjun Jia","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui, China","Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060677853","display_name":"Liushuai Zheng","orcid":"https://orcid.org/0000-0003-0890-5149"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Liushuai Zheng","raw_affiliation_strings":["Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044613496","display_name":"Dingran Dong","orcid":"https://orcid.org/0000-0002-8460-7330"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Dingran Dong","raw_affiliation_strings":["Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011751975","display_name":"Yong Wang","orcid":"https://orcid.org/0000-0002-6773-6544"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Wang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100382905","display_name":"Dong Sun","orcid":"https://orcid.org/0000-0003-3945-4037"},"institutions":[{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]},{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Dong Sun","raw_affiliation_strings":["Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR, China","Centre for Robotics and Automation, Shenzhen Research Institute of City University of Hong Kong, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Centre for Robotics and Automation, Shenzhen Research Institute of City University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I168719708","https://openalex.org/I4210105229"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5038173685"],"corresponding_institution_ids":["https://openalex.org/I126520041","https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":1.7031,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.84111575,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"19","issue":"4","first_page":"3083","last_page":"3092"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7562656402587891},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5627932548522949},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5476393699645996},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5429385304450989},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5315931439399719},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.46208569407463074},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44256287813186646},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4403056800365448},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4393554925918579},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42850008606910706},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4284185767173767},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38793304562568665},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3710990250110626},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27933943271636963},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.183834046125412}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7562656402587891},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5627932548522949},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5476393699645996},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5429385304450989},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5315931439399719},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46208569407463074},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44256287813186646},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4403056800365448},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4393554925918579},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42850008606910706},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4284185767173767},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38793304562568665},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3710990250110626},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27933943271636963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.183834046125412},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2021.3106022","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3106022","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G142652769","display_name":null,"funder_award_id":"U20A20194","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1596635901","https://openalex.org/W1619968654","https://openalex.org/W1990484548","https://openalex.org/W2007048256","https://openalex.org/W2013614705","https://openalex.org/W2028247401","https://openalex.org/W2046404942","https://openalex.org/W2049150942","https://openalex.org/W2051298259","https://openalex.org/W2058743530","https://openalex.org/W2069337468","https://openalex.org/W2094083886","https://openalex.org/W2094904022","https://openalex.org/W2105149720","https://openalex.org/W2156477602","https://openalex.org/W2157837434","https://openalex.org/W2168046319","https://openalex.org/W2168921919","https://openalex.org/W2313784957","https://openalex.org/W2543918212","https://openalex.org/W2611668602","https://openalex.org/W2791191954","https://openalex.org/W2811228695","https://openalex.org/W2900875363","https://openalex.org/W2945906781","https://openalex.org/W2955946574","https://openalex.org/W3081266493","https://openalex.org/W3087312184"],"related_works":["https://openalex.org/W1512021029","https://openalex.org/W2108470770","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W1562326332","https://openalex.org/W2319803529","https://openalex.org/W2152839317","https://openalex.org/W2969358681","https://openalex.org/W1520924231"],"abstract_inverted_index":{"Navigation":[0],"control":[1,21,38,105,191,214,227,244],"of":[2,23,119,132,138,154,162,192,216],"microrobots":[3],"in":[4,9,17,45,88,122,147,231,247,249,252],"vivo":[5,148,253],"has":[6,13],"great":[7],"potential":[8],"precision":[10],"medicine":[11],"and":[12,65,75,107,117,199,251],"attracted":[14],"considerable":[15],"attention":[16],"recent":[18],"years.":[19],"The":[20,136],"performance":[22,215],"the":[24,60,79,89,91,115,120,130,133,143,160,166,193,197,203,213,217,221,239,245,248],"existing":[25,87],"methods":[26],"is":[27,69,95,111,157,186,229],"considerably":[28],"affected":[29],"by":[30,50,165,202],"hysteresis":[31,43,85,163,175],"nonlinearity.":[32],"This":[33],"article":[34,156],"presents":[35],"a":[36,47,73],"robust":[37,98,226],"method":[39,64,228,241],"that":[40,58,100,238],"can":[41,242],"overcome":[42],"influence":[44],"navigating":[46],"microrobot":[48,80,121,144,170,246],"actuated":[49],"an":[51,224],"electromagnetic":[52,167],"coil":[53],"system.":[54],"A":[55,97],"motion":[56],"planner":[57],"combines":[59],"breadth-first":[61],"search":[62],"(BFS)":[63],"genetic":[66],"algorithm":[67],"(GA)":[68],"used":[70],"to":[71,113,128,151,158],"plan":[72],"reliable":[74],"flexible":[76],"trajectory":[77],"for":[78,84,146,189],"navigation.":[81],"To":[82,219],"compensate":[83],"nonlinearity":[86],"system,":[90],"Prandtl\u2013Ishlinskii":[92],"(PI)":[93],"model":[94,180,183],"introduced.":[96],"controller":[99],"integrates":[101],"adaptive":[102,225],"sliding":[103],"mode":[104],"(ASMC)":[106],"nonlinear":[108],"disturbance":[109,198],"observer":[110],"designed":[112],"guarantee":[114],"stability":[116],"accuracy":[118],"motion.":[123,171],"Experiments":[124],"have":[125,236],"been":[126],"performed":[127],"demonstrate":[129],"effectiveness":[131],"proposed":[134,240],"approach.":[135],"success":[137],"this":[139,155,232],"research":[140,173],"will":[141,210],"advance":[142],"navigation":[145],"applications.":[149],"Note":[150],"Practitioners\u2014The":[152],"motivation":[153],"eliminate":[159],"effect":[161],"caused":[164,201],"system":[168],"on":[169,174],"Existing":[172],"compensation":[176],"mostly":[177],"uses":[178],"inverse":[179],"or":[181],"online":[182],"identification,":[184],"which":[185],"not":[187],"suitable":[188],"real-time":[190],"microrobot.":[194,218],"In":[195],"addition,":[196],"uncertainty":[200],"microfluidic":[204],"environment":[205],"at":[206],"different":[207],"flow":[208],"rates":[209],"also":[211],"affect":[212],"solve":[220],"above":[222],"problems,":[223],"developed":[230],"article.":[233],"Experimental":[234],"results":[235],"shown":[237],"successfully":[243],"vitro":[250],"environment.":[254]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}