Observer based adaptive control for optical manipulation of cell
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 appro...
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| Main Authors: | , |
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| Other Authors: | |
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2014
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/101816 http://hdl.handle.net/10220/18719 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | 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. |
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