Enhanced high-gain observer for blood and micro-robot velocity estimation for magnetic drug targeting
Résumé
Micro-robots have a promising prospect to be used in healthcare and bioengineering
applications due to their capability to access hard-to-reach areas, allowing them to overcome
the limitations of many conventional clinical methods. Controlling these micro-robots in blood
vessels is an essential technology for several applications such as targeted drug delivery and
thrombus removal. Magnetic resonant navigation is a usual control strategy but its precision
and robustness rely on the knowledge of several forces or variables such as blood and micro-robot
velocities. In previous control designs, the blood velocity was assumed to be known and its pulse
is supposed to be constant. This assumption did not reflect reality and reduced the feasibility of
the control systems. Considering this fact, this paper addresses the problem of estimating the
velocity of the blood and micro-robot using an enhanced high-gain observer. Simulation results
are carried out in MATLAB/Simulink to demonstrate the effectiveness of the proposed observer
with comparisons to the standard high-gain observer.