Communication Dans Un Congrès Année : 2009

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

Résumé

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.

Fichier principal
Vignette du fichier
IROS2009.pdf (213.52 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Licence
Loading...

Dates et versions

hal-00655982 , version 1 (03-01-2012)

Licence

Identifiants

  • HAL Id : hal-00655982 , version 1

Citer

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⟩
287 Consultations
560 Téléchargements

Partager

  • More