WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 19, 2024
Globally Linearizing Control for a Magnetic Microrobot Navigating Within a Blood Vessel
Authors: , , ,
Abstract: In this paper, the globally linearizing control scheme is employed to guide an endovascular magnetic
microrobot navigating within a blood vessel with the objective of reaching a desired target following a trajectory
generated via a joystick device. First, we derive the 1D nonlinear dynamical model for the magnetic microrobot.
Subsequently, a stabilizing state feedback is designed based on the relative degree from geometric control, resulting
in a closed-loop linear system. To ensure the tracking of a time-varying trajectory and reject disturbances, an
external proportional-integral controller with a bias is used to define the external variable of the resulting linear
system. The performance of the GLC is evaluated via numerical simulations. The obtained results demonstrate
the output tracking and disturbance rejection capabilities of the GLC scheme.
Search Articles
Keywords: Magnetic microrobot, geometric control, relative order, globally linearizing control, output
tracking
Pages: 247-254
DOI: 10.37394/23203.2024.19.27