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：

---

微型机器人血管内导航的运动规划和鲁棒控制


微型机器人在精准医疗领域显示出巨大的靶向递送潜力。本文介绍了使用无模型方法对心血管环境中的微型机器人进行导航控制。通过所提出的方法，微型机器人在不了解血液速度分布的情况下在血管中移动时可以适应血液的非牛顿行为和环境扰动。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，旨在最大限度地减少能耗。所提出的导航控制器结合了滑模控制、反步控制和扰动补偿。设计高增益扩展状态观测器来估计和抑制模型参数和环境扰动的不确定性。进行模拟以证明所提出的方法与其他控制方法相比在小动脉中的有效性。