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 approach...

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Main Authors: Li, X., Cheah, Chien Chern
Other Authors: School of Electrical and Electronic Engineering
Format: Conference or Workshop Item
Language:English
Published: 2013
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Online Access:https://hdl.handle.net/10356/84640
http://hdl.handle.net/10220/11793
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-846402020-03-07T13:24:44Z Observer based adaptive control for optical manipulation of cell Li, X. Cheah, Chien Chern School of Electrical and Electronic Engineering International Conference on Control Automation Robotics & Vision (12th : 2012 : Guangzhou, China) DRNTU::Engineering::Electrical and electronic engineering 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. 2013-07-17T08:07:22Z 2019-12-06T15:48:51Z 2013-07-17T08:07:22Z 2019-12-06T15:48:51Z 2012 2012 Conference Paper 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. https://hdl.handle.net/10356/84640 http://hdl.handle.net/10220/11793 10.1109/ICARCV.2012.6485337 en © 2012 IEEE.
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering
spellingShingle DRNTU::Engineering::Electrical and electronic engineering
Li, X.
Cheah, Chien Chern
Observer based adaptive control for optical manipulation of cell
description 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.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Li, X.
Cheah, Chien Chern
format Conference or Workshop Item
author Li, X.
Cheah, Chien Chern
author_sort Li, X.
title Observer based adaptive control for optical manipulation of cell
title_short Observer based adaptive control for optical manipulation of cell
title_full Observer based adaptive control for optical manipulation of cell
title_fullStr Observer based adaptive control for optical manipulation of cell
title_full_unstemmed Observer based adaptive control for optical manipulation of cell
title_sort observer based adaptive control for optical manipulation of cell
publishDate 2013
url https://hdl.handle.net/10356/84640
http://hdl.handle.net/10220/11793
_version_ 1681044062879088640