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Title: Simple PD control scheme for robotic manipulation of biological cell
Authors: Cheah, Chien Chern
Li, X.
Yan, X.
Sun, D.
Keywords: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Issue Date: 2013
Source: Cheah, C. C., Li, X., Yan, X., & Sun, D. Simple PD control scheme for robotic manipulation of biological cell. IEEE transactions on automatic control, 60(5), 1427-1432.
Series/Report no.: IEEE transactions on automatic control
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.
DOI: 10.1109/TAC.2014.2357132
Rights: © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other works. The published version is available at: [].
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles

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