Control System Design for Wireless Electromagnetic-Based Micromanipulation System

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic


    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 languageUndefined
    Title of host publication31st Benelux meeting on Systems and Control
    Place of PublicationThe Netherlands
    Number of pages1
    ISBN (Print)978-94-6173-317-7
    Publication statusPublished - 27 Mar 2012
    Event31st Benelux meeting on Systems and Control 2012 - Heijen, Netherlands
    Duration: 27 May 201229 May 2012
    Conference number: 31

    Publication series

    NameThe 31st Benelux meeting on Systems and cotntrol


    Other31st Benelux meeting on Systems and Control 2012


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

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