Model predictive controller for a microrobot navigating in a vascular channel by following a trajectory generated with a joystick device
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Date
2022-12-04
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ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS)
Vol. 7, Issue 4, December-2022| ISSN: 2543-3792- EISSN:2676-1548
p 184/191.
Abstract
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.