Model predictive controller for a microrobot navigating in a vascular channel by following a trajectory generated with a joystick device
Keywords:Microrobot, Joystick device, Model predictive controller (MPC), reference trajectory
This article proposes a model predictive control (MPC) for trajectory tracking of a microrobot in a 2D fluidic environment. The reference trajectory is generated using a joystick device and it is estimated using a Luenberger observer. Assuming that the position of the microrobot is measured, the objective is to design an observer-based MPC control capable to track the reference trajectory generated by a joystick device. To optimize the MPC control, we have introduced a quadratic criterion where these parameters are determined to have a specific behavior of the closed loop system. Finally, simulation results are presented here to show the efficiency of the proposed approach
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Copyright (c) 2022 Larbi Meziane , El-Hadi Guechi , Ahmed Miadi, Youcef Zennir , Karim Belahret
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.