Adaptive Fuzzy Sliding Mode for a magnetically-guided endoscope wireless capsule microrobot

This present study provides an Adaptive Fuzzy Sliding Mode Controller (AFSMC) strategy for wireless capsule microrobot. This paper particularly discusses the control design of a magnetically-guided microrobotic system in small intestine to perform minimally invasive medical procedures. Such microrobot consists of a polymer bound aggregate of micro-sized ferromagnetic particles and a possible payload that can be propelled by the gradient coils of a magnetic device. An AFSMC is proposed to ensure a fine tracking despite modeling errors and uncertain parameters. This controller simulates human intelligence and adapts the controller to environments of different stiffness coefficients. Simulation results illustrate the robustness of uncertain physiological parameters for a microrobot navigating in a fluidic environment.

Keywords:

ferromagnetic microrobot , minimally invasive intervention , small intestine , adaptive fuzzy sliding mode