Adaptive Controller and Observer for a Magnetic Microrobot

Laurent Arcese (1) , Matthieu Fruchard (2) , Antoine Ferreira (3)

1 CRESTIC - Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804
2 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
3 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique

This paper discusses the control design of a magnetically guided microrobotic system in blood vessels to perform minimally invasive medical procedures. Such microrobots consist of a polymer-bonded aggregate of nanosized ferromagnetic particles and a possible payload that can be propelled by the gradient coils of a magnetic device. A fine modeling is developed and used to define an optimal trajectory which minimizes the control efforts. We then synthesize an adaptive backstepping law that ensures a Lyapunov stable and fine tracking, despite modeling errors, and estimates some key uncertain parameters. As the controller synthesis uses the microrobot unmeasured velocity, the design of a high-gain observer is also addressed. Simulations and experiment illustrate the robustness to both noise measurement and some uncertain physiological parameters for a 250-μm radius microrobot that navigates in a fluidic environment.

Mots clés: Magnetic microrobot; nonlinear modeling; adaptive backstepping; high gain observer; noise measurement; parametric uncertainties

Domaines: Automatique / Robotique

Laurent Arcese, Matthieu Fruchard, Antoine Ferreira. Adaptive Controller and Observer for a Magnetic Microrobot. IEEE Transactions on Robotics, 2013, 29 (4), pp.1060-1067. ⟨10.1109/TRO.2013.2257581⟩. ⟨hal-00811642⟩