TY - JOUR AU - Meziane , Larbi AU - Guechi , El-Hadi AU - Maidi, Ahmed AU - Zennir , Youcef AU - Belahret, Karim PY - 2023/01/14 Y2 - 2024/03/29 TI - Model predictive controller for a microrobot navigating in a vascular channel by following a trajectory generated with a joystick device JF - Algerian Journal of Signals and Systems JA - AJSS VL - 7 IS - 4 SE - DO - 10.51485/ajss.v7i4.178 UR - https://ajss.dz/index.php/ajss/article/view/178 SP - 184-191 AB - <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> ER -