Abstract
This paper deals with the control of a class of simplified models for flexible micro-grippers for DNA manipulation. The overall system is first modeled as a boundary controlled port-Hamiltonian system made up as the interconnection of an infinite-dimensional systems (modeled as an undamped Timoshenko beam) representing the flexible arm of the gripper with two finite dimensional systems representing the DNA bundle and the suspension/actuator mechanism. The base of the arm is clamped on the suspension mechanism leading to under actuated system. The controller considered under strict dissipative port Hamiltonian format uses the velocity of the base of the tweezers arm as input and generates a force as output. The exponential stability of the closed loop system is derived by checking simple conditions on both the infinite and finite dimensional system.
| Original language | Undefined |
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| Title of host publication | Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013 |
| Place of Publication | USA |
| Publisher | IEEE CONTROL SYSTEMS SOCIETY |
| Pages | 460-465 |
| Number of pages | 6 |
| ISBN (Print) | 978-1-4673-5716-6 |
| Publication status | Published - Dec 2013 |
| Event | 52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy Duration: 10 Dec 2013 → 13 Dec 2013 Conference number: 52 |
Publication series
| Name | |
|---|---|
| Publisher | IEEE Control Systems Society |
Conference
| Conference | 52nd IEEE Conference on Decision and Control, CDC 2013 |
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| Abbreviated title | CDC |
| Country | Italy |
| City | Florence |
| Period | 10/12/13 → 13/12/13 |
Keywords
- EWI-24241
- METIS-302607
- IR-88724