Model predictive controller for a microrobot navigating in a vascular channel by following a trajectory generated with a joystick device
| dc.contributor.author | ||
| dc.contributor.author | ||
| dc.contributor.author | ||
| dc.contributor.author | Zennir Youcef | |
| dc.contributor.author | ||
| dc.date.accessioned | 2024-04-17T12:45:43Z | |
| dc.date.available | 2024-04-17T12:45:43Z | |
| dc.date.issued | 2022-12-04 | |
| dc.description.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. | |
| dc.identifier.issn | 2543-3792 | |
| dc.identifier.uri | http://dspace.univ-skikda.dz:4000/handle/123456789/1136 | |
| dc.language.iso | en | |
| dc.publisher | ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS) Vol. 7, Issue 4, December-2022| ISSN: 2543-3792- EISSN:2676-1548 p 184/191. | |
| dc.title | Model predictive controller for a microrobot navigating in a vascular channel by following a trajectory generated with a joystick device | |
| dc.type | Article |
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