Open document
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General information |
| Author |
Yang, Qinmin; Luo, Jie; Cao, Chengyu; Lu, Jiangang; Sun, Youxian |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
In this paper, a novel control methodology for
automatically manipulating micro/nano particles by
using a Scanning Probe Microscope (SPM) is presented.
First of all, a mathematical model of
micro/nanomanipulation, including the interactive forces
and dynamics between the tip, particle and substrate
along with the roughness effect of the substrate, is
described. Then, the L1 adaptive control design for the
manipulation system of micro/nano objects is presented,
which consists of a state predictor with fast adaptation, a
piece‐wise continuous adaptive law and a low‐pass
filtered control design. This control framework can
handle nonlinear uncertainties and ensures uniformly
bounded tracking performance. The tracking
performance bound can be systematically improved by
reducing the step size of integration. Rigorous
mathematical proof is provided. Simulation results
demonstrate the effectiveness of the presented L1
adaptive control law on the micro/nanomanipulation
model. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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