Adaptive control of microrobot in pulsatile flow

We propose an observer-based adaptive controller for a magnetic microrobot navigating in blood vessels. The pulsatile blood flow nonlinearly affects the drag force which dominates the microrobot dynamics. Instead of using a priori knowledge of the blood flow, we synthesize a mean value theorem (MVT) based observer to on-line estimate the pulsatile blood velocity. We then prove the stability of the observer-based adaptive controller in presence of parametric uncertainties. Simulation results illustrate the efficiency of the proposed approach.