Output feedback linearization control for nanorobots with actuator and sensor delays.

This paper proposes an output predictive control design for the endovascular magnetic resonance imaging (MRI)-guided nanorobots in the presence of actuator and sensor delays. The nanorobot is modeled considering the effects of hydrodynamic drag force, apparent weight, and magnetic motive force. Using feedback linearization approach, the state feedback control is designed. To physically implement the predicted states in the state feedback control, the high-gain predictor is constructed. The performance recovery property of the output feedback using the high-gain predictor is achieved. The numerical simulation demonstrates the effectiveness of the designed controllers and the performance recovery property of the designed high-gain predictor. [ABSTRACT FROM AUTHOR]