Microrobots show great targeted-delivery potential in precision medicine. This article presents the use of a model-free approach to the navigation control of a microrobot in the cardiovascular environment. With the proposed approach, the microrobot can adapt to the non-Newton behavior of blood and environmental disturbances when it moves in blood vessels without knowledge of blood-velocity distribution. The referred trajectory of the navigated microrobot is generated by using a breadth-first search and genetic algorithm, aiming to minimize the energy consumption. The proposed navigation controller combines sliding mode control, backstepping control, and disturbance compensation. A high-gain extended state observer is designed to estimate and reject the uncertainties of model parameters and environmental disturbances. Simulations are performed to demonstrate the effectiveness of the proposed approach in a small artery compared with other control methods.

中文翻译：

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微型机器人血管内导航的运动计划和鲁棒控制

微型机器人在精密医学中显示出巨大的目标交付潜力。本文介绍了在心血管环境中无模型方法对微型机器人导航控制的使用。通过提出的方法，微型机器人在不知道血流速度分布的情况下可以在血管中移动时适应血液的非牛顿行为和环境干扰。导航微型机器人的参考轨迹是通过使用广度优先搜索和遗传算法生成的，旨在最大程度地降低能耗。所提出的导航控制器结合了滑模控制，后推控制和干扰补偿。设计了一个高增益扩展状态观察器，以估计和拒绝模型参数和环境干扰的不确定性。