  The demonstrations of micro-robotic systems in minimally invasive medicine
include an individual or a swarm of microswimmer of various origin, artificial
or biohybrid, often with an external computer-controlled electromagnetic field.
There are several in vivo and in vitro control performances with artificial
microswimmers but control of a bio-hybrid microswimmer using an open kinematic
chain remains untouched. In this work, non-contact maneuvering control of a
single magnetotactic bacterium cell is simulated. The results show that the
proposed system is capable of adjusting the heading of the microswimmer moving
at proximity to a 2D boundary under the guidance of the set-point tracking
scheme. The performance of the coupled model and the sensitivity to control
parameters are demonstrated with the help of a time-dependent error to the
yaw-angle reference under the influence of PID with adaptive integral gain.
