Robust orientation control of multi‐DOF cell based on uncertainty and disturbance estimation

Xie, Mingyang; Shakoor, Adnan; Li, Chuntao; Sun, Dong

doi:10.1002/rnc.4664

Cited by 22 publications

(10 citation statements)

References 35 publications

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“…Remark 9 From Eqs. (31) and (35), a smaller β corresponds to a shorter convergence time of the system-state trajectory and a higher accuracy of the control system.…”

Section: Controller Adjustmentmentioning

confidence: 99%

“…Traditional SMC uses the linear sliding surface [29], which ensures that the state trajectory achieves progressive convergence [30]. Finite-time stability can significantly improve the performance of the controller and achieve finite-time convergence [31]. A nonsingular TSM (NTSM) [32] has been proposed to overcome the singular problem, and a fast-TSM-type reaching law has been developed to suppress chattering.…”

Section: Introductionmentioning

confidence: 99%

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Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsingular terminal sliding mode control

Xie

et al. 2020

Bio-des. Manuf.

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A novel robust controller is proposed in this study to realize the precise motion control of a cell puncture mechanism (CPM) driven by piezoelectric ceramics (PEAs). The entire dynamic model of CPM is constructed based on the Bouc-Wen model, and the nonlinear part of the dynamic model is optimized locally to facilitate the construction of a robust controller. A model-based, nonlinear robust controller is constructed using time-delay estimation (TDE) and fractional-order nonsingular terminal sliding mode (FONTSM). The proposed controller does not require prior knowledge of unknown disturbances due to its real-time online estimation and compensation of unknown terms by using the TDE technology. The controller also has finite-time convergence and high-precision trajectory tracking capabilities due to FONTSM manifold and fast terminal sliding mode-type reaching law. The stability of the closed-loop system is proved by Lyapunov stability theory. Computer simulation and hardware-in-loop simulation experiments of CPM verify that the proposed controller outperforms traditional terminal sliding mode controllers, such as the integer-order or model-free controller. The proposed controller can also continuously output without chattering and has high control accuracy. Zebrafish embryo is used as a verification target to complete the cell puncture experiment. From the engineering application perspective, the proposed control strategy can be effectively applied in a PEA-driven CPM.

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“…Remark 9 From Eqs. (31) and (35), a smaller β corresponds to a shorter convergence time of the system-state trajectory and a higher accuracy of the control system.…”

Section: Controller Adjustmentmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsingular terminal sliding mode control

Xie

et al. 2020

Bio-des. Manuf.

Self Cite

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“…By taking the square root and substituting Lyapunov function (9) into Eq. (15), the following inequality is obtained…”

Section: A Fault-tolerant Iss-based Backstepping Controllermentioning

confidence: 99%

Closed-Loop Control for Trajectory Tracking of a Microparticle Based on Input-to-State Stability Through an Electromagnetic Manipulation System

Zhong

et al. 2020

IEEE Access

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Magnetic force-based manipulation has several advantages, including its minimally invasive feature and insensitivity to biological substances. Consequently, it has exhibited considerable potential in many medical applications, such as targeted delivery in precise medicine, in which microparticles are driven to the desired regions precisely in vivo. This study investigates an automated and accurate delivery of magnetic microparticles using a self-constructed electromagnetic coil system. After establishing a simplified second-order dynamic model of microparticles suspended in a fluidic environment, a visual-based automated controller that incorporates the concept of input-to-state stability (ISS) into fault-tolerant technique is developed. This controller enables microparticles to follow a desired trajectory under model uncertainties and environmental disturbances, and address the problem that the actual magnetic driving force may not reach the required value due to magnetic loss in the coil system simultaneously. Input constraint of the magnetic force provided by the system due to device capability is also considered in the fault-tolerant ISS-based controller design. Simulation and experimental results are presented to demonstrate the effectiveness of the proposed approach.

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“…Besides, the aforementioned visualization problem remains. Some of the inherent feature positions of cells can also be selected as reference points for orientation control [133]. Given the uniqueness of each tested cell, these feature points have to be selected individually.…”

Section: Feature Reference Pointsmentioning

confidence: 99%

Advanced Biological Imaging for Intracellular Micromanipulation: Methods and Applications

et al. 2020

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Intracellular micromanipulation assisted by robotic systems has valuable applications in biomedical research, such as genetic diagnosis and genome-editing tasks. However, current studies suffer from a low success rate and a large operation damage because of insufficient information on the operation information of targeted specimens. The complexity of the intracellular environment causes difficulties in visualizing manipulation tools and specimens. This review summarizes and analyzes the current development of advanced biological imaging sampling and computational processing methods in intracellular micromanipulation applications. It also discusses the related limitations and future extension, providing an important reference about this field.

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Robust orientation control of multi‐DOF cell based on uncertainty and disturbance estimation

Cited by 22 publications

References 35 publications

Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsingular terminal sliding mode control

Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsingular terminal sliding mode control

Closed-Loop Control for Trajectory Tracking of a Microparticle Based on Input-to-State Stability Through an Electromagnetic Manipulation System

Advanced Biological Imaging for Intracellular Micromanipulation: Methods and Applications

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