Observer based adaptive control for optical manipulation of cell

Observer based adaptive control for optical manipulation of cell
Title:
Observer based adaptive control for optical manipulation of cell
Other Titles:
2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)
Keywords:
Publication Date:
05 December 2012
Citation:
Li, X.; Cheah, C.C., "Observer based adaptive control for optical manipulation of cell," Control Automation Robotics & Vision (ICARCV), 2012 12th International Conference on , vol., no., pp.1323,1328, 5-7 Dec. 2012 doi: 10.1109/ICARCV.2012.6485337
Abstract:
In this paper, an observer based adaptive control method is proposed for optical manipulation of cell. The dynamics of the robotic manipulator of the laser source is introduced in the optical tweezers system, so that a closed-loop control method is formulated and solved, and a backstepping approach is used to derive a control input for the manipulator. The interaction between the cell dynamics and the manipulator dynamics leads to a fourth-order overall dynamics, and hence a nonlinear observer is constructed to avoid the use of high-order derivatives of the positions in the control input. Stability of the closed-loop system is analyzed by using Lyapunov-like analysis. Simulation results are presented to illustrate the performance of the proposed control methods.
License type:
PublisherCopyrights
Funding Info:
Agency For Science, Technology And Research of Singapore (A*STAR), (Reference No. 1121202014)
Description:
(c) 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
ISBN:
978-1-4673-1870-9
978-1-4673-1871-6
Files uploaded:

File Size Format Action
p0477.pdf 306.02 KB PDF Open