Robust tracking control of an array of nanoparticles moving on a substrate

Control of nanosystems with frictional dynamics using feedback control methods is important to a wide range of applications of nanotribology. This paper studies the tracking control problem of an array of nanoparticles moving on a substrate with friction between the substrate and the particles. The...

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Main Authors: Hu, Guoqiang, Dixon, Warren., Ding, Han.
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2013
Online Access:https://hdl.handle.net/10356/85075
http://hdl.handle.net/10220/12664
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-850752020-03-07T13:57:25Z Robust tracking control of an array of nanoparticles moving on a substrate Hu, Guoqiang Dixon, Warren. Ding, Han. School of Electrical and Electronic Engineering Control of nanosystems with frictional dynamics using feedback control methods is important to a wide range of applications of nanotribology. This paper studies the tracking control problem of an array of nanoparticles moving on a substrate with friction between the substrate and the particles. The focus of this study is on control design and stability analysis. The major challenges in this problem include nonlinearities and uncertainties in the frictional dynamics and limited availability of measurable states in nanosystems. The particle–substrate interaction is considered to be unknown, and the unknown effect of unmodeled particle dynamics on the dynamics of the center of mass of the array is also considered. A nonlinear identifier is first developed to identify these unmodeled dynamics. A feedback controller is then developed based on the identifier to control the center of mass of the particles to track a desired trajectory. Boundedness of the closed-loop states and semiglobal asymptotic stability of the tracking error are proven using Lyapunov theory for the case of linear inter-particle interactions. An example with more general Morse-type inter-particle interactions is included to provide some level of confidence that the results are general but not assuredness that they are. Numerical simulation results are provided to demonstrate the performance of the developed identification and control law. 2013-07-31T08:23:19Z 2019-12-06T15:56:33Z 2013-07-31T08:23:19Z 2019-12-06T15:56:33Z 2012 2012 Journal Article Hu, G., Dixon, W.,& Ding, H. (2012). Robust tracking control of an array of nanoparticles moving on a substrate. Automatica, 48(2), 442-448. 0005-1098 https://hdl.handle.net/10356/85075 http://hdl.handle.net/10220/12664 10.1016/j.automatica.2011.08.056 en Automatica
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
description Control of nanosystems with frictional dynamics using feedback control methods is important to a wide range of applications of nanotribology. This paper studies the tracking control problem of an array of nanoparticles moving on a substrate with friction between the substrate and the particles. The focus of this study is on control design and stability analysis. The major challenges in this problem include nonlinearities and uncertainties in the frictional dynamics and limited availability of measurable states in nanosystems. The particle–substrate interaction is considered to be unknown, and the unknown effect of unmodeled particle dynamics on the dynamics of the center of mass of the array is also considered. A nonlinear identifier is first developed to identify these unmodeled dynamics. A feedback controller is then developed based on the identifier to control the center of mass of the particles to track a desired trajectory. Boundedness of the closed-loop states and semiglobal asymptotic stability of the tracking error are proven using Lyapunov theory for the case of linear inter-particle interactions. An example with more general Morse-type inter-particle interactions is included to provide some level of confidence that the results are general but not assuredness that they are. Numerical simulation results are provided to demonstrate the performance of the developed identification and control law.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Hu, Guoqiang
Dixon, Warren.
Ding, Han.
format Article
author Hu, Guoqiang
Dixon, Warren.
Ding, Han.
spellingShingle Hu, Guoqiang
Dixon, Warren.
Ding, Han.
Robust tracking control of an array of nanoparticles moving on a substrate
author_sort Hu, Guoqiang
title Robust tracking control of an array of nanoparticles moving on a substrate
title_short Robust tracking control of an array of nanoparticles moving on a substrate
title_full Robust tracking control of an array of nanoparticles moving on a substrate
title_fullStr Robust tracking control of an array of nanoparticles moving on a substrate
title_full_unstemmed Robust tracking control of an array of nanoparticles moving on a substrate
title_sort robust tracking control of an array of nanoparticles moving on a substrate
publishDate 2013
url https://hdl.handle.net/10356/85075
http://hdl.handle.net/10220/12664
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