Automated Manipulation of Micro-Nano Objects with SPM by Using L1 Adaptive Controller | Zendy

Qinmin Yang | Zendy; Jie Luo | Zendy; Chengyu Cao | Zendy; Jiangang Lu | Zendy; Youxian Sun | Zendy

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Automated Manipulation of Micro-Nano Objects with SPM by Using L₁ Adaptive Controller

Author(s) -

Qinmin Yang,

Jie Luo,

Chengyu Cao,

Jiangang Lu,

Youxian Sun

Publication year - 2012

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/53511

Subject(s) - computer science , nonlinear system , controller (irrigation) , adaptive control , nano , tracking (education) , control theory (sociology) , bounded function , artificial intelligence , control (management) , materials science , mathematics , physics , psychology , mathematical analysis , pedagogy , quantum mechanics , agronomy , composite material , biology

In this paper, a novel control methodology for automatically manipulating micro/nano particles by using a Scanning Probe Microscope (SPM) is presented. Firstof 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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