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 ; 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.
|Title of host publication||31st Benelux meeting on Systems and Control|
|Place of Publication||The Netherlands|
|Number of pages||1|
|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
|Name||The 31st Benelux meeting on Systems and cotntrol|
|Other||31st Benelux meeting on Systems and Control 2012|
|Period||27/05/12 → 29/05/12|
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.