Enhanced high-gain observer for blood and micro-robot velocity estimation for magnetic drug targeting - Laboratoire Pluridisciplinaire de Recherche Ingénierie des Systèmes, Mécanique, Énergétique Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

Enhanced high-gain observer for blood and micro-robot velocity estimation for magnetic drug targeting

Résumé

Micro-robots have a promising prospect to be used in healthcare and bioengineering applications due to their capability to access hard-to-reach areas, allowing them to overcome the limitations of many conventional clinical methods. Controlling these micro-robots in blood vessels is an essential technology for several applications such as targeted drug delivery and thrombus removal. Magnetic resonant navigation is a usual control strategy but its precision and robustness rely on the knowledge of several forces or variables such as blood and micro-robot velocities. In previous control designs, the blood velocity was assumed to be known and its pulse is supposed to be constant. This assumption did not reflect reality and reduced the feasibility of the control systems. Considering this fact, this paper addresses the problem of estimating the velocity of the blood and micro-robot using an enhanced high-gain observer. Simulation results are carried out in MATLAB/Simulink to demonstrate the effectiveness of the proposed observer with comparisons to the standard high-gain observer.
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Dates et versions

hal-04015424 , version 1 (05-03-2023)

Identifiants

  • HAL Id : hal-04015424 , version 1

Citer

Dyhia Bouhadjra, Estelle Courtial, Matthieu Fruchard, Ali Zemouche. Enhanced high-gain observer for blood and micro-robot velocity estimation for magnetic drug targeting. 22nd IFAC World Congress, IFAC 2023, Jul 2023, Yokohama, Japan. ⟨hal-04015424⟩
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