Micro-force compensation in automated micro-object positioning using adaptive neural networks

作者：Shahini M; Melek W W^*; Yeow J T W

来源：Smart Materials and Structures, 2009, 18(9): 095023.

DOI：10.1088/0964-1726/18/9/095023

This paper proposes a novel approach for controlled pushing of a micro-sized object along a desired path. Challenges associated with this control task due to the presence of dominating micro-forces are carefully studied and a solution based on the application of artificial neural networks is introduced. A nonlinear controller is proposed for controlled pushing of micro-objects which guarantees the stability of the closed-loop system in the Lyapunov sense. An experimental setup is designed to validate the performance of the proposed controller. Results suggest that artificial neural networks present a promising tool for design of adaptive controllers to accurately manipulate objects in the microscopic scale.

• 出版日期2009-9