Model Predictive Control for Closed-Loop Surface Navigation of Magnetic Microswimmers

This paper presents a closed-loop control strategy for the surface motion of magnetically actuated microswimmers, with a focus on high-precision target reaching and smooth trajectory following. A Model Predictive Control (MPC) framework is used to control surface motion, ensuring robust tracking performance. Initially, the microswimmer is guided to a single target with high accuracy; subsequently, the controller transitions to following a spline-based path for continuous, smooth motion. By optimizing control inputs based on predicted future states, the MPC maintains minimal tracking error. This methodology underscores the potential of surface-based microrobotic systems for tasks requiring precise navigation, such as targeted drug delivery, micro-scale manipulation, and other minimally invasive procedures.