@article{Meziane_Guechi_Maidi_Zennir_Belahret_2023, place={Boumerdes, ALGERIA}, title={Model predictive controller for a microrobot navigating in a vascular channel by following a trajectory generated with a joystick device}, volume={7}, url={https://ajss.dz/index.php/ajss/article/view/178}, DOI={10.51485/ajss.v7i4.178}, abstractNote={<p>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</p> <p>&nbsp;</p>}, number={4}, journal={Algerian Journal of Signals and Systems }, author={Meziane , Larbi and Guechi , El-Hadi and Maidi, Ahmed and Zennir , Youcef and Belahret, Karim}, year={2023}, month={Jan.}, pages={184-191} }