{'fraction_non_alphanumeric': 0.018995929443690638, 'fraction_numerical': 0.0, 'mean_word_length': 5.473684210526316, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
High Gain Observer for backstepping control of a MRI-guided therapeutic microrobot in blood vessels

This paper reports precise modeling and controller/ observer design for a microsized polymer aggregate of magnetic particles inside an artery, using a Magnetic Resonance Imaging (MRI) device for supplying propulsion in order to achieve targeted chemotherapy. Non-Newtonian behaviour of blood is taken into account, as well as wall effects and interactions, resulting in a highly nonlinear model. A High Gain Observer is designed to reconstruct the unmeasured state, so that a backstepping controller can be synthesized. Efficiency and robustness to noise of this controller/observer pair is then illustrated through simulations results.