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

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.