Control System Design for Wireless Electromagnetic-Based Micromanipulation System

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

    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 languageUndefined
    Title of host publication31st Benelux meeting on Systems and Control
    Place of PublicationThe Netherlands
    PublisherDISC
    Pages39-39
    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
    PublisherDISC

    Other

    Other31st Benelux meeting on Systems and Control 2012
    CountryNetherlands
    CityHeijen
    Period27/05/1229/05/12

    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.