Nonlinear Modeling and Robust Controller-Observer for a Magnetic Microrobot in a Fluidic Environment using MRI gradients

Laurent Arcèse (1) , Matthieu Fruchard (1) , Antoine Ferreira (1)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]

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.

Mots clés: endovascular navigation modeling; backstepping controller; high gain observer

Domaines: Automatique / Robotique

Laurent Arcèse, Matthieu Fruchard, Antoine Ferreira. Nonlinear Modeling and Robust Controller-Observer for a Magnetic Microrobot in a Fluidic Environment using MRI gradients. IEEE International Conference on Intelligent Robots and Systems, Oct 2009, Saint Louis, United States. pp 534-539. ⟨hal-00655982⟩