Title :
Modeling and Control of AFM-based Nano-manipulation Systems
Author :
El Rifai, Khalid ; El Rifai, Osamah ; Youcef-Toumi, Kamal
Author_Institution :
Massachutsetts Institute of Technology 77 Massachusetts Ave. Roomi 3-348, Cambridge, MA 02139 elrifai@mit.edu
Abstract :
This paper develops a model and control scheme for nano-manipulation systems based on atomic force microscopes (AFM). The model includes the micro-cantilever´s and piezotube actuator´s coupled dynamics. An identification-based controller is proposed for piezotube scanner positioning accounting for the piezotube´s nonlinear sensitivity and axes coupling. A novel robust adaptive controller is developed to compensate for large parametric uncertainties including time varying and switching parameters due to probe-surface contacts as well as time varying and impulsive forces due to contact and impact. Discussions and simulations are presented for typical nano-manipulation tasks.
Keywords :
AFM; nano-manipulation; nano-robotics; Actuators; Adaptive control; Atomic force microscopy; Couplings; Force control; Nanobioscience; Probes; Programmable control; Robust control; Uncertainty; AFM; nano-manipulation; nano-robotics;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570112