Modeling and Control of AFM-based Nano-manipulation Systems

Abstract

This paper develops a model and control scheme for nano-manipulation systems based on atomic force microscopes (AFM). The model includes the micro-cantilever's and piezotube actuator's coupled dynamics. An identification-based controller is proposed for piezotube scanner positioning accounting for the piezotube's nonlinear sensitivity and axes coupling. A novel robust adaptive controller is developed to compensate for large parametric uncertainties including time varying and switching parameters due to probe-surface contacts as well as time varying and impulsive forces due to contact and impact. Discussions and simulations are presented for typical nano-manipulation tasks.

Motion controller for the Atomic Force Microscopy based nanomanipulation system

“…Assume for now that (10) and equation (11). They are not equal obviously with ( ) ( ) or ex U t U t < .…”

“…The control problem can be formulated into two categories, the modelling and control of the piezoelectric tube and the overall scheme design and implementation for the whole system. The former has been addressed by researchers [11]. The adaptive controller is developed for compensating the uncertainties in the piezotube actuator.…”

Neural network sliding mode controller of atomic force microscope‐based manipulation with different cantilever probes

“…Sitti et al also developed a model and designed a PD controller considering scaling coefficients (Sitti, ; Sitti & Hashimoto, ). Moreover, Rifai proposed a model with four degrees of freedom and ultimately completed the work by designing a robust adaptive controller (Rifai, Rifai, & Toumi,, & K. Y., ). Similarly, Li and colleagues proposed a discrete state‐space model to design a discrete controller (Xu & Li, ), and Yang developed Sitti's model and applied an NN‐based controller (Yang & Jagannathan, ).…”

Manipulation with atomic force microscopy: DNA and yeast micro/nanoparticles in biological environments

“…Then, a control system for driving nanoparticles by using the JKR contact theory was offered by Sitti et al, which considered surface adhesion and had a goal of controlling, semi-automatically, the displacement of particles. 6,7 Rifai et al 8 have introduced a nanomanipulation model which includes the dynamic couple of the micro-cantilever lift and the AFM piezotube operator tension. Korayem et al 9 have performed 2D manipulations of gold nanoparticles in water medium with different salt concentrations.…”