Article: Observer-based 2D tracking control for a vascular microrobot based on the T-S fuzzy model Journal: International Journal of Automation and Control (IJAAC) 2023 Vol.17 No.6 pp.573 - 594 Abstract: This paper deals with a two-dimensional tracking control of a vascular microrobot in the framework of fuzzy modelling. The proposed control strategy consists in using an observer-based T-S fuzzy state controller that achieves the tracking in conjunction with a disturbance rejection compensator that compensates the effects of disturbances. The T-S fuzzy observer is used to recover the whole state from the measured microrobot position. To overcome the overheat problem of the coils and reject the disturbances, the tuning of the T-S fuzzy controller is carried out by imposing a constraint on the manipulated magnetic field gradient magnitude. Both the T-S fuzzy controller and the T-S fuzzy observer are tuned by solving a set of linear matrix inequalities. The desired trajectory to be followed by the microrobot is determined optimally from an MRI image, using the fast marching method, by specifying both the microrobot injection and target positions. Simulation runs are performed to show the performance of the proposed control strategy both without and with the measurement noise. Inderscience Publishers - linking academia, business and industry through research

Title: Observer-based 2D tracking control for a vascular microrobot based on the T-S fuzzy model

Authors: Meziane Larbi; El-Hadi Guechi; Ahmed Maidi; Djamel Ounnas; Karim Belharet

Addresses: Automatic Laboratory of Skikda, 20th August 1955 University of Skikda, BP 26, Route d'El-Hadaiek, Skikda 21000, Algeria ' Automatic Laboratory of Skikda, 20th August 1955 University of Skikda, BP 26, Route d'El-Hadaiek, Skikda 21000, Algeria ' Laboratoire de Conception et Conduite des Systèmes de Production, Universitè Mouloud Mammeri, 15000 Tizi-Ouzou, Algeria ' University of Tebessa, Route de Constantine, 12002 Tebessa, Algeria ' Laboratoire PRISME EA 4229, Junia-Hei, 2 Allée Jean Vaillé, 36000 Châteauroux, France

Abstract: This paper deals with a two-dimensional tracking control of a vascular microrobot in the framework of fuzzy modelling. The proposed control strategy consists in using an observer-based T-S fuzzy state controller that achieves the tracking in conjunction with a disturbance rejection compensator that compensates the effects of disturbances. The T-S fuzzy observer is used to recover the whole state from the measured microrobot position. To overcome the overheat problem of the coils and reject the disturbances, the tuning of the T-S fuzzy controller is carried out by imposing a constraint on the manipulated magnetic field gradient magnitude. Both the T-S fuzzy controller and the T-S fuzzy observer are tuned by solving a set of linear matrix inequalities. The desired trajectory to be followed by the microrobot is determined optimally from an MRI image, using the fast marching method, by specifying both the microrobot injection and target positions. Simulation runs are performed to show the performance of the proposed control strategy both without and with the measurement noise.

Keywords: magnetic microrobot; T-S fuzzy model; 2D trajectory tracking; T-S fuzzy control; T-S fuzzy observer; disturbance rejection.

DOI: 10.1504/IJAAC.2023.134551

International Journal of Automation and Control, 2023 Vol.17 No.6, pp.573 - 594

Received: 13 May 2022
Accepted: 07 Jan 2023
Published online: 27 Oct 2023 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article

Title: Observer-based 2D tracking control for a vascular microrobot based on the T-S fuzzy model

Keep up-to-date