Globally Linearizing Control for a Magnetic Microrobot Navigating Within a Blood Vessel

In this paper, the globally linearizing control scheme is employed to guide an endovascular magnetic microrobot navigating within a blood vessel with the objective of reaching a desired target following a trajectory generated via a joystick device. First, we derive the 1D nonlinear dynamical model for the magnetic microrobot. Subsequently, a stabilizing state feedback is designed based on the relative degree from geometric control, resulting in a closed-loop linear system. To ensure the tracking of a time-varying trajectory and reject disturbances, an external proportional-integral controller with a bias is used to define the external variable of the resulting linear system. The performance of the GLC is evaluated via numerical simulations. The obtained results demonstrate the output tracking and disturbance rejection capabilities of the GLC scheme.