Simple PD Control Scheme for Robotic Manipulation of Biological Cell

Simple PD Control Scheme for Robotic Manipulation of Biological Cell
Title:
Simple PD Control Scheme for Robotic Manipulation of Biological Cell
Other Titles:
IEEE Transactions on Automatic Control
Publication Date:
12 September 2014
Citation:
Cheah, C.C.; Li, X.; Yan, X.; Sun, D., "Simple PD Control Scheme for Robotic Manipulation of Biological Cell," Automatic Control, IEEE Transactions on , vol.PP, no.99, pp.1,1 doi: 10.1109/TAC.2014.2357132
Abstract:
In most manipulation techniques for optical tweezers, open-loop controllers are developed to move the laser source without consideration of the dynamic interaction between the cell and the manipulator of laser source. This paper presents a simple PD control scheme for manipulation of cell using optical tweezers. We formulate a closed-loop setpoint control problem for optical tweezers and show that simple control law is effective for closed-loop manipulation, taking into consideration of the dynamic interaction between the laser beam and the cell. The use of closed-loop feedback control helps to enhance the trapping and also reduces the possibility of photodamage. The setpoint controller is also extended to a region reaching controller, where the desired objective is generalised to a region. Though the overall dynamics that involves the interaction between the cell and the manipulator is a fourth-order system, the proposed controllers do not require the use of acceleration and its derivative or the construction of any observer. Experimental results are presented to illustrate the performance of the proposed controllers.
License type:
PublisherCopyrights
Funding Info:
Agency For Science, Technology And Research of Singapore (A*STAR), (Ref. 1121202014)
Description:
(c) 2014 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.
ISSN:
1558-2523
0018-9286
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