Control n MRI-powered actuators

Simulates control law to steer multiple MRI-powered actuators
Updated 30 Jan 2014

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Plots the position of n MRI rotors being controlled simultaneously to
desired positions by an MRI gradient field. The MRI gradient field is
defined by three (3) linear gradients in the x,y, and z axes. This
system is underactuated since 3 is much less than n. A Control Lyapunov
Function (CLF) is used to control the position of each rotor

The rotors are modeled after the real, single -DOF actuators reported
P. Vartholomeos, C. Bergeles, L. Qin, P. E. and Dupont, "An MRI-powered
and Controlled Actuator Technology for Tetherless Robotic
Interventions", Int. J. Robotics Research, vol. 32, no. 13, pp.
1536-1552, 2013.
a pdf is available at:

Author: Aaron Becker
Boston Children's Hospital
Date: 10/18/2013

Companion code for IROS 2014 paper submission (, "Simultaneously Powering and Controlling Many Actuators With a Clinical MRI Scanner", by Aaron Becker, Ouajdi Felfoul, and Pierre Dupont

Cite As

Aaron T. Becker's Robot Swarm Lab (2024). Control n MRI-powered actuators (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2013a
Compatible with any release
Platform Compatibility
Windows macOS Linux

Inspired by: Generate Non-Parallel Axes

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