期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：6
页码：228
DOI：10.5772/53511
语种：English
出版社：SAGE Publications
摘要：In this paper, a novel control methodology for automatically manipulating micro/nano particles by using a Scanning Probe Microscope (SPM) is presented. First of all, a mathematical model of micro/nanomanipulation, including the interactive forces and dynamics between the tip, particle and substrate along with the roughness effect of the substrate, is described. Then, the L1 adaptive control design for the manipulation system of micro/nano objects is presented, which consists of a state predictor with fast adaptation, a piece-wise continuous adaptive law and a low-pass filtered control design. This control framework can handle nonlinear uncertainties and ensures uniformly bounded tracking performance. The tracking performance bound can be systematically improved by reducing the step size of integration. Rigorous mathematical proof is provided. Simulation results demonstrate the effectiveness of the presented L1 adaptive control law on the micro/nanomanipulation model.
关键词：Micro/nanomanipulation ; L1 Adaptive Control ; SPM ; Nonlinear dynamic systems
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