This work addresses the characterization and control of Magnetotactic Bacterium (MTB) which can be considered as a biological microrobot. Magnetic dipole moment of the MTB and response to a field-with-alternating-direction are characterized. First, the magnetic dipole moment is characterized using four techniques, i.e., Transmission Electron Microscopy images,
techniques. This characterization results in an average magnetic dipole moment of 3.32x10
A.m2 and 3.72x10
for non-motile and motile MTB, respectively. Second, the frequency response analysis of MTB shows that its velocity decreases by 38% for a field-with-alternating-direction of 30 rad/s. Based on the characterized magnetic dipole moment, the magnetic force produced by our magnetic system is five orders-of-magnitude less than the propulsion force generated by the flagellum of the MTB. Therefore,
positioning of MTB cannot be achieved by exerting a magnetic force. A closed-loop control strategy is devised based on calculating the position tracking error, and capitalizes on the frequency response analysis of the MTB.
closed-loop control of MTB is achieved for a reference set-point of 60
m with average velocity of 20
m/s. The closed-loop control system positions the MTB within a region-of-convergence of 10