Abstract
A precise and robust controller has been developed and implemented on a novel ionic polymer-metal composite (IPMC) actuated micro-manipulator to demonstrate its ability to enable safe and reliable manipulation of biological cells. A 2 degree-of-freedom (2DOF) control structure was employed to enable the system to be optimised for both the disturbance response (DR) and set-point (SP) tracking. The controller is adaptively tuned using a model-free iterative feedback tuning (IFT) approach which is ideal for operation in unknown cellular environments and handling the time-varying behaviour of the IPMCs themselves. IFT experiments have tuned the IPMCs to an 87% and 81% performance improvement in DR and SP respectively. Experiments then reveal that the tuned controller has equipped the manipulator with an accuracy of <7.1% of full scale, with up to 7° of motion in both axes. The controller has also demonstrated its ability to naturally cope with load disturbances up to 10 mN.
| Original language | English |
|---|---|
| Pages (from-to) | 156-174 |
| Number of pages | 19 |
| Journal | International Journal of Intelligent Systems Technologies and Applications |
| Volume | 12 |
| Issue number | 2 |
| DOIs | |
| State | Published - 2013 |
| Externally published | Yes |
Keywords
- Cell
- Control
- IPMC
- Iterative feedback tuning
- Micromanipulator
- Robust