Based on the fact that optical tweezers (OT) constitute a flat system, with flat outputs given by the horizontal and vertical position coordinates of the geometric centre of the laser beam, a flatness-based control strategy for the manipulation of a microscopical particle is presented in this article. The control strategy is derived under the assumption that the particle is suspended in a frictionless medium, obtaining a simple controller with a relatively simple stability analysis. The control strategy is tested by tracking a straight line, an elliptic curve, and carrying out the rest-to-rest transfer manoeuvre task by using a smooth trajectory.
Tuesday, September 22, 2009
Flatness-based approach for the manipulation of a microscopic particle by optical tweezers
Carlos Aguilar-Ibanez, Armando Barranon Cedillo, Hebertt Sira-Ramirez, and Luis I. Rosas-Soriano
Based on the fact that optical tweezers (OT) constitute a flat system, with flat outputs given by the horizontal and vertical position coordinates of the geometric centre of the laser beam, a flatness-based control strategy for the manipulation of a microscopical particle is presented in this article. The control strategy is derived under the assumption that the particle is suspended in a frictionless medium, obtaining a simple controller with a relatively simple stability analysis. The control strategy is tested by tracking a straight line, an elliptic curve, and carrying out the rest-to-rest transfer manoeuvre task by using a smooth trajectory.
Based on the fact that optical tweezers (OT) constitute a flat system, with flat outputs given by the horizontal and vertical position coordinates of the geometric centre of the laser beam, a flatness-based control strategy for the manipulation of a microscopical particle is presented in this article. The control strategy is derived under the assumption that the particle is suspended in a frictionless medium, obtaining a simple controller with a relatively simple stability analysis. The control strategy is tested by tracking a straight line, an elliptic curve, and carrying out the rest-to-rest transfer manoeuvre task by using a smooth trajectory.
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