A robust controller for micro-sized agents: The prescribed performance approach

摘要

Applications such as micromanipulation and minimally invasive surgery can be performed using micro-sized agents. For instance, drug-loaded magnetic micro-ano- particles can enable targeted drug delivery. Their precise manipulation can be assured using a robust motion controller. In this paper, we design a closed-loop controller-observer pair for regulating the position of microagents. The prescribed performance technique is applied to control the microagents to follow desired motion trajectories. The position of the microagents are obtained using microscopic images and image processing. The velocities of the microagents are obtained using an iterative learning observer. The algorithm is tested experimentally on spherical magnetic microparticles that have an average diameter of 100 μm. The steady-state errors obtained by the algorithm are 20 μm. The errors converge to the steady-state in approximately 8 seconds.