2D Observer-Based Control of a Vascular Microrobot - Modelisation Systemes Langages Accéder directement au contenu
Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2017

2D Observer-Based Control of a Vascular Microrobot

Résumé

The paper addresses the 2D observer-based control of a magnetic microrobot navigating in a cylindrical blood vessel along a reference trajectory. In particular, this robot faces the nonlinear drag force induced by the pulsatile blood flow, which can hardly be measured. Consequently, a mean value theorem (MVT) based observer to estimate the blood velocity from the sole measurement of the robot position is proposed. Also, the stability of the observer-based backstepping controller is proved. The resulting estimation and tracking are then illustrated through simulations, as well as robustness to parametric uncertainty, measurement noise, and dynamical errors when the pulsatile blood flow is incorrectly modeled.
Fichier principal
Vignette du fichier
TAC_Final2.pdf (1.62 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02163251 , version 1 (24-06-2019)

Identifiants

Citer

Lounis Sadelli, Matthieu Fruchard, Antoine Ferreira. 2D Observer-Based Control of a Vascular Microrobot. IEEE Transactions on Automatic Control, 2017, 62 (5), pp.2194-2206. ⟨10.1109/TAC.2016.2604045⟩. ⟨hal-02163251⟩
28 Consultations
204 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More