Paper Info
Title
Motion control for magnetic micro-scale manipulation
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.
Year
Venue
Keywords
2013
Control Conference
adaptive control,closed loop systems,feedforward,industrial manipulators,iterative methods,learning systems,micromanipulators,motion control,minimag system,closed loop controller,high performance industrial magnetic micromanipulation system,iterative learning control,machine system constraints,magnetic microscale manipulation,model-based motion control enhancement,operational bounds,system software
Field
DocType
Citations 
Motion control,Control theory,Iterative method,Control theory,Control engineering,Adaptive control,Iterative learning control,Engineering,System identification,Feed forward,Performance improvement
Conference
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Andrew G. Alleyne1456115.70
Schurle, S.200.34
Meo, A.300.34
Bradley J. Nelson41263202.74