A Robust controller for micro-sized agents: The prescribed performance approach

Alper Denasi, Sarthak Misra

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    3 Citations (Scopus)
    52 Downloads (Pure)

    Abstract

    Applications such as micromanipulation and minimally invasive surgery can be performed using micro-sized agents. For instance, drug-loaded magnetic micro-/nano- particles can enable targeted drug delivery. Their precise manipulation can be assured using a robust motion controller. In this paper, we design a closed-loop controller-observer pair for regulating the position of microagents. The prescribed performance technique is applied to control the microagents to follow desired motion trajectories. The position of the microagents are obtained using microscopic images and image processing. The velocities of the microagents are obtained using an iterative learning observer. The algorithm is tested experimentally on spherical magnetic microparticles that have an average diameter of 100 m. The steady-state errors obtained by the algorithm are 20 m. The errors converge to the steady-state in approximately 8 seconds
    Original languageEnglish
    Title of host publicationProceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS)
    EditorsS. Haliyo, A. Sill, S. Regnier, S. Fatikow
    Place of PublicationParis
    Pages-
    DOIs
    Publication statusPublished - 18 Jul 2016
    Event1st International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2016 - Cordelier Campus of the University Pierre and Marie Curie, Paris, France
    Duration: 18 Jul 201622 Jul 2016
    Conference number: 1

    Conference

    Conference1st International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2016
    Abbreviated titleMARSS
    CountryFrance
    CityParis
    Period18/07/1622/07/16

    Fingerprint

    Controllers
    Surgery
    Image processing
    Trajectories
    Targeted drug delivery

    Keywords

    • METIS-316510
    • IR-100271

    Cite this

    Denasi, A., & Misra, S. (2016). A Robust controller for micro-sized agents: The prescribed performance approach. In S. Haliyo, A. Sill, S. Regnier, & S. Fatikow (Eds.), Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS) (pp. -). Paris. https://doi.org/10.1109/MARSS.2016.7561711
    Denasi, Alper ; Misra, Sarthak. / A Robust controller for micro-sized agents: The prescribed performance approach. Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS). editor / S. Haliyo ; A. Sill ; S. Regnier ; S. Fatikow. Paris, 2016. pp. -
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    title = "A Robust controller for micro-sized agents: The prescribed performance approach",
    abstract = "Applications such as micromanipulation and minimally invasive surgery can be performed using micro-sized agents. For instance, drug-loaded magnetic micro-/nano- particles can enable targeted drug delivery. Their precise manipulation can be assured using a robust motion controller. In this paper, we design a closed-loop controller-observer pair for regulating the position of microagents. The prescribed performance technique is applied to control the microagents to follow desired motion trajectories. The position of the microagents are obtained using microscopic images and image processing. The velocities of the microagents are obtained using an iterative learning observer. The algorithm is tested experimentally on spherical magnetic microparticles that have an average diameter of 100 m. The steady-state errors obtained by the algorithm are 20 m. The errors converge to the steady-state in approximately 8 seconds",
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    Denasi, A & Misra, S 2016, A Robust controller for micro-sized agents: The prescribed performance approach. in S Haliyo, A Sill, S Regnier & S Fatikow (eds), Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS). Paris, pp. -, 1st International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2016, Paris, France, 18/07/16. https://doi.org/10.1109/MARSS.2016.7561711

    A Robust controller for micro-sized agents: The prescribed performance approach. / Denasi, Alper; Misra, Sarthak.

    Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS). ed. / S. Haliyo; A. Sill; S. Regnier; S. Fatikow. Paris, 2016. p. -.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    Denasi A, Misra S. A Robust controller for micro-sized agents: The prescribed performance approach. In Haliyo S, Sill A, Regnier S, Fatikow S, editors, Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS). Paris. 2016. p. - https://doi.org/10.1109/MARSS.2016.7561711