Trajectory Tracking of Microparticle Controlled by Dual-magnet System under State Constraint

This study investigates the tracking of microparticle trajectories using a permanent magnetic actuator for the purpose of targeted drug delivery to lesion sites. An optimized controller has been developed, employing Linear Matrix Inequalities (LMIs) to minimize the impact of external disturbances while adhering to state constraints. The LMI-based system, established through the Lyapunov method and invariant set theorem, guarantees stability and convergence. A key innovation is the proven effectiveness of this controller with a permanent magnet actuator, maintaining magnetic particle stability in a minimal set despite external disturbances and constraints, surpassing traditional linear controllers.