Nonlinear modeling and robust controller-observer for a magnetic microrobot in a fluidic environment using MRI gradients.
Laurent ArceseMatthieu FruchardAntoine FerreiraPublished in: IROS (2009)
Keyphrases
- real time
- tracking control
- control system
- dynamic environments
- magnetic resonance imaging
- mobile robot
- autonomous agents
- neural network controller
- control method
- lyapunov function
- noisy environments
- highly nonlinear
- robust stability
- model predictive control
- adaptive neural
- nonlinear dynamics
- control architecture
- parameter tuning
- pid controller
- magnetic field
- control algorithm
- mr images
- sufficient conditions