Dynamic behavior investigation for trajectory control of a microrobot in blood vessels

被引：14

作者：

Arcese, Laurent ^{[1
]}

Cherry, Ali ^{[2
]}

Fruchard, Matthieu ^{[1
]}

Ferreira, Antoine ^{[2
]}

机构：

[1] IUT Bourges, Inst PRISME UPRES 4229, 63 Av Lattre de Tassigny, F-18020 Bourges, France

[2] ENSI Bourges, Inst PRISME UPRES 4229, F-18000 Bourges, France

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

关键词：

SIMULATION; FLOW;

D O I：

10.1109/IROS.2010.5650895

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper reports modeling and control of a microsized polymer aggregate of magnetic particles inside an artery, using a MRI device for supplying propulsion in order to achieve targeted chemotherapy. Non-Newtonian behavior of blood is considered, as well as wall effects and interactions, resulting in a highly nonlinear model. A backstepping approach is synthesized to ensure Lyapunov stability along a pre-planned trajectory inherited from the model, with robustness concerns.

引用

页码：5774 / 5779

页数：6

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