Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies

This paper investigates the problem of straight-line path following for magnetic helical microswimmers. The control objective is to make microswimmer converge a straight line without violating step-out frequency constraint. proposed feedback solution based on an optimal decision strategy (ODS) that cast as trust-region subproblem (TRS), i.e., quadratic program over sphere. ODS-based minimizes difference between microrobot velocity and integral line-of-sight (ILOS)-based reference vector field while respecting saturation constraints ensuring absolute continuity input. Due embedded action in field, will follow desired by compensating drift effect environmental disturbances well weight.