A robust control scheme for 3D manipulation of a microparticle with electromagnetic coil system

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)

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Detail(s)

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4660-4665
ISBN (Print)9781509046331
Publication statusPublished - May 2017

Publication series

Name
ISSN (Print)1050-4729

Conference

Title2017 IEEE International Conference on Robotics and Automation, ICRA 2017
LocationSands Expo and Convention Centre
PlaceSingapore
Period29 May - 3 June 2017

Abstract

Electromagnetically actuated microparticles can be widely applied in the field of biomedicine, for its advantages of minimally invasive feature and approachability to complex microenvironments. In this paper, we propose a robust feedback control approach for precise 3D manipulation of a microparticle actuated by a self-constructed electromagnetic coil system. Model uncertainties, environmental disturbances as well as actuator energy loss problem are all taken into account in the controller design. It is shown that this proposed control scheme can enable the entire system to maintain the input-to-state stability in presence of various perturbations. Experimental results have demonstrated the effectiveness of
the proposed control approach. Success of the current study will benefit the precise motion control with high throughput in applications of the targeted material delivery.

Citation Format(s)

A robust control scheme for 3D manipulation of a microparticle with electromagnetic coil system. / Ma, Weicheng; Li, Junyang; Niu, Fuzhou; Ouyang, Bo; Ji, Haibo; Sun, Dong.

Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 4660-4665 7989541.

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)