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Force Control of a Cellular Tensegrity Structure with Model Uncertainties and Partial State Measurability
Author(s) -
Zhou Shengfeng,
Chen Peter C. Y.,
Ong ChongJin
Publication year - 2014
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.862
Subject(s) - tensegrity , internal forces , nonlinear system , coupling (piping) , computer science , control theory (sociology) , function (biology) , control (management) , control engineering , engineering , physics , structural engineering , mechanical engineering , artificial intelligence , quantum mechanics , evolutionary biology , biology
Mechanical force is known to influence the behavior of biological cells. To study how external mechanical forces may affect cellular response and function necessitates the development of sophisticated force‐control techniques for accurate application of dynamical forces on living cells. In this paper, we develop a robust force control algorithm that enables accurate application of an external force on a dynamics model of biological cells. Such force control is achieved by utilizing a six‐strut cellular tensegrity model constructed based on the structural approach. Leveraging on the more comprehensive description of the nonlinearity and dynamic coupling of internal structural elements provided by this tensegrity model, we synthesize a novel robust control law that can effectively deal with model uncertainties and partial state measurability. Numerical simulations (involving forces of different dynamics profiles) are conducted to demonstrate the effectiveness of the proposal force control algorithm.