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| HAL : hal-00655998, version 1 |
| Fiche détaillée |  Récupérer au format |
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| 2010 IEEE International Conference on Intelligent Robots and Systems, Taipei : Taiwan, Province Of China (2010) |
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| Dynamic Behavior Investigation for Trajectory Control of a Microrobot in Blood Vessels |
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| Laurent Arcèse 1Ali Cherry 1 |
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| (10/2010) |
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| This paper reports modeling and control of a microsized polymer aggregate of magnetic particles inside an artery, using a MRI device for supplying propulsion in order to achieve targeted chemotherapy. Non-Newtonian behavior of blood is considered, as well as wall effects and interactions, resulting in a highly nonlinear model. A backstepping approach is synthesized to ensure Lyapunov stability along a pre-planned trajectory inherited from the model, with robustness concerns. |
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| 1 : | Laboratoire PRISME (PRISME) |
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Université d'Orléans : EA4229 – ENSI Bourges |
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| Pôle IRAuS |
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| Domaine | : | Sciences de l'ingénieur/Automatique / Robotique |
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| hal-00655998, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00655998 | |
| oai:hal.archives-ouvertes.fr:hal-00655998 | |
| Contributeur : Matthieu Fruchard | |
| Soumis le : Mardi 3 Janvier 2012, 12:32:28 | |
| Dernière modification le : Lundi 8 Avril 2013, 11:07:46 | |
