### Abstract

Control strategy to accomplish precise point-to-point posi- tioning and trajectory tracking of magnetically-guided mi- croparticles is analyzed in this work. External disturbances and model mismatch were modeled as inputs to the mag- netic force governing equation. First, the problem is formu- lated by modeling the magnetic force experienced by the microparticles in the presence of viscous drag, buoyancy force, force due to gravity, external disturbances and model mismatch [1]; the resulting model is utilized to design an observer to estimate the mismatch over the nominal and ac- tual values of these forces. Hereafter, the current-magnetic force map is derived by minimizing the two-norm square of the magnetic field-to-current map constrained with the mag- netic force equation. The result of this minimization prob- lem along with the designed observer were utilized in the realization of a control input for the attainment of robust- ness by compensating for the model mismatch of the elec- tromagnetic system and rejecting the disturbance forces on the microparticles.

Original language | Undefined |
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Title of host publication | 31st Benelux meeting on Systems and Control |

Place of Publication | The Netherlands |

Publisher | DISC |

Pages | 39-39 |

Number of pages | 1 |

ISBN (Print) | 978-94-6173-317-7 |

Publication status | Published - 27 Mar 2012 |

Event | 31st Benelux meeting on Systems and Control 2012 - Heijen, Netherlands Duration: 27 May 2012 → 29 May 2012 Conference number: 31 |

### Publication series

Name | The 31st Benelux meeting on Systems and cotntrol |
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Publisher | DISC |

### Other

Other | 31st Benelux meeting on Systems and Control 2012 |
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Country | Netherlands |

City | Heijen |

Period | 27/05/12 → 29/05/12 |

### Keywords

- EWI-23420
- METIS-297690
- IR-86256

## Cite this

Khalil, I. S. M., Abelmann, L., & Misra, S. (2012). Control System Design for Wireless Electromagnetic-Based Micromanipulation System. In

*31st Benelux meeting on Systems and Control*(pp. 39-39). (The 31st Benelux meeting on Systems and cotntrol). The Netherlands: DISC.