Optimal Navigation Control Design for Biomedical Untethered Microrobot with Network-induced Delays

In this paper, the optimal navigation control design for biomedical untethered microrobot is comprehensively investigated in discrete-time domain with stochastic network-induced delays. First, the error dynamics of the microrobot tracking location and velocity are analyzed based on the 3D-based microrobot navigation modeling. Then, the optimal navigation optimization problem is formulated to regulate the microrobot to achieve the target reference trajectory, and a two-step control algorithm is proposed by using a backward recursion method. In particular, for each sampling interval, the optimal control gain is iteratively derived off-line and the control strategy can be calculated on-line in a real-time fashion.