Motion Planning and Robust Control for the Endovascular Navigation of a Microrobot

Numerical Optimization and Map-Based Manipulation With a Quadrupole Electromagnetic Actuated System

“…Since the size of the manipulated particle is in micro-scale, it is hard to directly integrate a traditional embedded energy supply device. Thus, non-invasive mechanisms are introduced for micro-manipulation technology, including dielectrophoresis (Chu et al, 2015 ; Huan et al, 2016 ) generated by non-uniform electric field, optical tweezers (Cheah et al, 2014 ; Xie et al, 2019 ) induced by focused laser beam, and magnetic driving force (Ma et al, 2017 ; Niu et al, 2017 ; Meng et al, 2019 ) generated by gradient magnetic field. Compared with dielectrophoresis and optical tweezers, magnetic actuated technology has its advantages in biological compatibility and micro-flexibility (Pankhurst et al, 2003 ; Ma et al, 2020 ), which has been widely investigated in recent years.…”

Numerical Optimization and Map Construction of a Quadrupole Electromagnetic Actuated System

“…Since the size of the manipulated particle is in micro-scale, traditional embedded energy supply device is hard to be integrated directly. Thus, non-invasive mechanisms are introduced for micro-manipulation technology 4 , including dielectrophoresis 5 generated by non-uniform electric field, optical tweezers 6 induced by focused laser beam, and magnetic driving force 7 generated by gradient magnetic field, etc. Compared with dielectrophoresis and optical tweezers, magnetic actuated technology has its advantages in biological compatibility and micro-flexibility 8,9 , which has been widely investigated in recent years.…”

A Novel Continuous Finite-Time Extended State Observer Design for a Class of Uncertain Nonlinear Systems

“…Generally, various approaches in the design of finite-time observers have been presented [12]- [22]. For instance, high-gain observers using homogeneity concepts were investigated in [12]- [16]. [12]- [14] attempted to account for the convergence of a global high-gain state observer, but their solutions failed in the presence of uncertainties.…”

“…[12]- [14] attempted to account for the convergence of a global high-gain state observer, but their solutions failed in the presence of uncertainties. This limitation was resolved in [4], [15], and [16]. In [15], finitetime convergence was achieved only under the assumption of homogeneity of perturbations.…”

“…In [15], finitetime convergence was achieved only under the assumption of homogeneity of perturbations. In [4] and [16], the finitetime observer was designed under known state variables. Except [21]- [24], further development is required in the design of the FT-ESO.…”