Observer-Based Control of a Microrobot Navigating within a 3D Blood Vessel along a Trajectory Delivered by a Joystick Device

Abstract

In this paper, an observer-based state feedback control strategy for trajectory tracking of a magnetic microrobot navigating within a 3D blood vessel is proposed. The desired trajectory to be followed by the microrobot is generated by an operator using a joystick device. To deal with the significant effect of both external disturbances and parametric uncertainties, often encountered in biological environments, a state feedback stabilization, that enforces the output tracking despite any environmental disturbances, is developed. Then, for the purpose of implementation, a state observer is developed to recover the whole state from the measured position of the microrobot. The state feedback and observer gains are determined separately by solving a set of linear matrix inequalities derived in the framework of Lyapunov stability theory. Simulation runs are performed to demonstrate the performance of the proposed control strategy.