3 accepted papers
In the present work we discuss a novel dynamic control approach for magnetically actuated robots, by proposing an <i>adaptive control</i> technique, robust towards parametric uncertainties and unknown bounded disturbances. The former generally arise due to partial knowledge of the robots' dynamic pa
In this paper, explicit model predictive control is applied in conjunction with nonlinear optimisation to a magnetically actuated flexible endoscope for the first time. The approach is aimed at computing the motion of the external permanent magnet, given the desired forces and torques. The strategy
The present letter investigates a novel control approach for magnetically driven soft-tethered capsules for colonoscopy-a potentially painless approach for colon inspection. The focus of this work is on a class of devices composed of a magnetic capsule endoscope actuated by a single external permane