The independent control of microrobot swarms is a major challenge in the field of micro/nano manipulation. In this paper, a new localized magnetic field generating system is presented that can be used for the independent control of multiple magnetic microrobots. Such a system will allow for cooperative or parallel microassembly tasks with teams of magnetic microrobots. Firstly, the performance of the novel circular microcoil is modeled by analyzing the effect of input current to study the magnetic field distribution characteristics in the workspace, which is validated by finite element analysis and simulation; then, an actuation and control strategy of microrobots for microcoil array is proposed. Meanwhile, the independent closed-loop control of the microrobot is realized based on visual feedback; finally, an experimental platform for the microcoil actuation system is built to validate the newly designed structure. The results show that the microrobot can move flexibly and accurately with the tracking error within 0.444mm. At the same time, the system is capable of independently controlling multiple microrobots and holds great potential in performing micromanipulation tasks.

This paper addresses the challenge of achieving fully distributed event-triggered bipartite consensus in discrete-time nonlinear multi-agent systems (MASs) characterized by unknown dynamic models and antagonistic interactions. It begins by transforming the bipartite consensus issue into a standard consensus problem through a combined measurement error function. A dynamic linearization model is subsequently established for the input and the combined measurement error function, easing the strongly connected requirement of MASs' communication topology. To enhance performance, an event-triggered model-free sliding-mode bipartite consensus algorithm is proposed, designed to boost convergence speed, reduce steady-state error, and relieve communication burden. The convergence of the proposed method is rigorously proven, allowing for control of fine-tuned specific practical needs. Simulation studies are conducted to verify the effectiveness of the proposed scheme.