ETD

• eMPC
• Explicit model predictive control
• MPC
• PID

Design, simulations and experiments of an Explicit MPC control method for a magnetic capsule used in an innovative robotic platform providing a safer colonoscopy. This robotic platform was made up of a magnetic capsule and a KUKA Med Iiwa robotic arm with a magnet on its end-effector. The eMPC provides the motion control of the magnetic capsule. Furthermore, an optimization approach is used to produce the optimal movement of the external magnet in order to apply the desired forces and torques on the capsule.