Motion control for magnetic micro-scale manipulation

Andrew G. Alleyne, Simone Schurle, Alessandro Meo, Bradley J. Nelson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work demonstrates performance improvement in motion control under a particular set of machine system constraints. A high performance industrial magnetic micro-manipulation system, the Minimag, is introduced and modeled with both first principles and system identification. The form of the closed loop controller is constrained by operational bounds and the system software, resulting in limits to achievable performance. A model-based motion control enhancement is developed and implemented using tools from Iterative Learning Control. The resulting performance improvements indicate the benefits of motion control even when the closed loop controller is fixed. Experimental results at two different size scales (500 μm and 4.5μm) are given.

Original languageEnglish (US)
Title of host publication2013 European Control Conference, ECC 2013
PublisherIEEE Computer Society
Pages784-790
Number of pages7
ISBN (Print)9783033039629
DOIs
StatePublished - Jan 1 2013
Event2013 12th European Control Conference, ECC 2013 - Zurich, Switzerland
Duration: Jul 17 2013Jul 19 2013

Publication series

Name2013 European Control Conference, ECC 2013

Other

Other2013 12th European Control Conference, ECC 2013
CountrySwitzerland
CityZurich
Period7/17/137/19/13

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Alleyne, A. G., Schurle, S., Meo, A., & Nelson, B. J. (2013). Motion control for magnetic micro-scale manipulation. In 2013 European Control Conference, ECC 2013 (pp. 784-790). [6669173] (2013 European Control Conference, ECC 2013). IEEE Computer Society. https://doi.org/10.23919/ecc.2013.6669173