Nonlinear modeling and robust controller-observer for a magnetic microrobot in a fluidic environment using MRI gradients

Authors:
Laurent Arcese;Matthieu Fruchard;Antoine Ferreira
Affiliations:
Institute PRISME UPRES, IUT de Bourges, Bourges cedex, France;Institute PRISME UPRES, IUT de Bourges, Bourges cedex, France;Institute PRISME UPRES, ENSI de Bourges, Bourges, France
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This paper reports the use of a MRI device to pull a magnetic microrobot inside a vessel and control its trajectory. The bead subjected to magnetic and hydrodynamic forces is first modeled as a nonlinear control system. Then, a backstepping approach is discussed in order to synthesize a feedback law ensuring the stability along the controlled trajectory. We show that this control law, combined with a high gain observer, provides good tracking performances and robustness to measurement noise as well as to some matched uncertainties.