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


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
Number of pages7
ISBN (Print)9783033039629
StatePublished - 2013
Event2013 12th European Control Conference, ECC 2013 - Zurich, Switzerland
Duration: Jul 17 2013Jul 19 2013

Publication series

Name2013 European Control Conference, ECC 2013


Other2013 12th European Control Conference, ECC 2013

ASJC Scopus subject areas

  • Control and Systems Engineering


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