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

Alper Denasi; Sarthak Misra

doi:10.1109/MARSS.2016.7561711

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

Alper Denasi
, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

5 Citations (Scopus)

198 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 language	English
Title of host publication	Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS)
Editors	S. Haliyo, A. Sill, S. Regnier, S. Fatikow
Place of Publication	Paris
Pages	-
DOIs	https://doi.org/10.1109/MARSS.2016.7561711
Publication status	Published - 18 Jul 2016
Event	1st 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 2016 → 22 Jul 2016 Conference number: 1

Conference

Conference	1st International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2016
Abbreviated title	MARSS
Country/Territory	France
City	Paris
Period	18/07/16 → 22/07/16

Keywords

METIS-316510
IR-100271

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10.1109/MARSS.2016.7561711

ad_marss_2016_finalAccepted author version, 1.71 MB

Cite this

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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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note = "1st International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2016, MARSS ; Conference date: 18-07-2016 Through 22-07-2016",

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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 proceeding › Conference contribution › Academic › peer-review

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N2 - 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

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

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