Magnetic Coupling Localisation (MCL) is a sensorless approach for estimating the position of magnetically driven microrobots and has shown strong potential for medical applications. However, accurate position control remains challenging due to the highly nonlinear dynamics of UMRs and the presence of uncertainties in magnetic actuation.
This research aims to improve positioning accuracy within the MCL framework by developing a novel localisation approach for positioning of UMRs using a disturbance observer to estimate the torques involved. By validating the framework through simulation and experiments, the proposed approach aims to enable more reliable and practical position control of URMs.