Closed-Loop Control for Trajectory Tracking of a Microparticle Based on Input-to-State Stability Through an Electromagnetic Manipulation System

doi:10.1109/access.2020.2978929

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	Closed-Loop Control for Trajectory Tracking of a Microparticle Based on Input-to-State Stability Through an Electromagnetic Manipulation System
	W. C. Ma,M. Xu,Z. X. Zhong,X. P. Li and Z. J. Huan
	2020
发表期刊	Ieee Access
ISSN	2169-3536
卷号	8 页码:46537-46545
摘要	Magnetic force-based manipulation has several advantages, including its minimally invasive feature and insensitivity to biological substances. Consequently, it has exhibited considerable potential in many medical applications, such as targeted delivery in precise medicine, in which microparticles are driven to the desired regions precisely in vivo. This study investigates an automated and accurate delivery of magnetic microparticles using a self-constructed electromagnetic coil system. After establishing a simplified second-order dynamic model of microparticles suspended in a fluidic environment, a visual-based automated controller that incorporates the concept of input-to-state stability (ISS) into fault-tolerant technique is developed. This controller enables microparticles to follow a desired trajectory under model uncertainties and environmental disturbances, and address the problem that the actual magnetic driving force may not reach the required value due to magnetic loss in the coil system simultaneously. Input constraint of the magnetic force provided by the system due to device capability is also considered in the fault-tolerant ISS-based controller design. Simulation and experimental results are presented to demonstrate the effectiveness of the proposed approach.
DOI	10.1109/access.2020.2978929
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收录类别	SCI
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/64360
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	W. C. Ma,M. Xu,Z. X. Zhong,X. P. Li and Z. J. Huan. Closed-Loop Control for Trajectory Tracking of a Microparticle Based on Input-to-State Stability Through an Electromagnetic Manipulation System[J]. Ieee Access,2020,8:46537-46545.
APA	W. C. Ma,M. Xu,Z. X. Zhong,X. P. Li and Z. J. Huan.(2020).Closed-Loop Control for Trajectory Tracking of a Microparticle Based on Input-to-State Stability Through an Electromagnetic Manipulation System.Ieee Access,8,46537-46545.
MLA	W. C. Ma,M. Xu,Z. X. Zhong,X. P. Li and Z. J. Huan."Closed-Loop Control for Trajectory Tracking of a Microparticle Based on Input-to-State Stability Through an Electromagnetic Manipulation System".Ieee Access 8(2020):46537-46545.

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