Sliding Mode Observer of a Two-Agent Microrobotic System

Abstract

In recent years, there has been growing interest in realizing targeted therapies and diagnostics using vascular microrobots. However, until today the observation of multi-microagent systems subject to parametric uncertainties inherent to the microworld is rarely addressed. In this paper, sliding mode state observer is deigned for a two-agent microrobotic system. It assumed that the two-agents operate in close physical proximity to each other under the action of the flow velocity. Simulation results in the presence of environmental disturbances and the viscosity uncertainty shown the efficiency and the satisfactory performances of the studied observer.