"OUTPUT PREDICTIVE CONTROL FOR ENDOVASCULAR MRI-GUIDED NANOROBOTS WITH " by Jing Lei, Jia Qing Song et al.
This paper proposes an output predictive control design for the endovascular Magnetic Resonance Imaging (MRI)-guided nanorobots in the presence of control delay. Considering the effects of hydrodynamic drag force, apparent weight, and magnetic motive force, we establish the state-space representation model of nanorobots. The state-feedback control (SFC) is designed by using feedback linearisation approach. The high-gain predictor is constructed to implement the predicted states in the SFC physically. The performance recovery property is proved, namely, the ultimate boundedness, exponential sta...
Source: uow.edu.au