Model predictive controller for a microrobot navigating in a vascular channel by following a trajectory generated with a joystick device

This article proposes a model predictive control (MPC) for trajectory tracking of microrobot in 2D fluidic environment. The reference is generated using joystick device and it estimated Luenberger observer. Assuming that the position measured, objective to design an observer-based MPC capable track by device. To optimize control, we have introduced quadratic criterion where these parameters are determined specific behavior closed loop system. Finally, simulation results presented here show efficiency proposed approach