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Title: Observer based adaptive control for optical manipulation of cell
Authors: Li, X.
Cheah, Chien Chern
Keywords: DRNTU::Engineering::Electrical and electronic engineering
Issue Date: 2012
Source: Li, X., & Cheah, C. C. (2012). Observer based adaptive control for optical manipulation of cell. 2012 12th International Conference on Control Automation Robotics & Vision (ICARCV), 1323-1328.
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.
DOI: 10.1109/ICARCV.2012.6485337
Rights: © 2012 IEEE.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Conference Papers

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