Saturated PID Control for the Optical Manipulation of Biological Cells

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journal

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Original languageEnglish
Pages (from-to)1909-1916
Journal / PublicationIEEE Transactions on Control Systems Technology
Issue number5
Online published18 Jul 2017
Publication statusPublished - Sep 2018


This brief presents a saturated PID control scheme for cell manipulation by using robot-aided optical tweezers, with consideration of both translational and rotational control of the cell. By incorporating saturation functions into a PID controller and utilizing a velocity observer, cell position and orientation can asymptotically converge to the desired values. The proposed control approach also guarantees that the trapped cell can always stay within a small neighborhood around the centroid of the optical trap, thereby preventing the cell from escaping by optical trapping. The controller does not require the use of accurate dynamic model parameters, and hence can be implemented easily. Utilizing a velocity observer, velocity measurement by directly differentiating the measured position of the cell is not needed, which benefits noise reduction and system stability. The asymptotic stability of the closed-loop system is analyzed using Lyapunov's direct method. Experimental results are presented to demonstrate the effectiveness of the proposed approach.

Research Area(s)

  • Biomedical optical imaging, Cell rotation, cell transportation, Charge carrier processes, Holography, Optical refraction, Optical saturation, Optical sensors, optical tweezers, PID, saturated control.