High Gain Observer for Backstepping Control of a MRI-guided Therapeutic Microrobot in Blood Vessels

Laurent Arcèse (1) , Ali Cherry (2) , Matthieu Fruchard (1) , Antoine Ferreira (1)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
2 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique [2008-2013]

This paper reports precise modeling and controller/ observer design for a microsized polymer aggregate of magnetic particles inside an artery, using a Magnetic Resonance Imaging (MRI) device for supplying propulsion in order to achieve targeted chemotherapy. Non-Newtonian behaviour of blood is taken into account, as well as wall effects and interactions, resulting in a highly nonlinear model. A High Gain Observer is designed to reconstruct the unmeasured state, so that a backstepping controller can be synthesized. Efficiency and robustness to noise of this controller/observer pair is then illustrated through simulations results.

Domaines: Automatique / Robotique

Laurent Arcèse, Ali Cherry, Matthieu Fruchard, Antoine Ferreira. High Gain Observer for Backstepping Control of a MRI-guided Therapeutic Microrobot in Blood Vessels. 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sep 2010, Tokyo, Japan. pp 349 - 354, ⟨10.1109/BIOROB.2010.5627806⟩. ⟨hal-00837711⟩