Optical manipulation of cell rotation using a robust controller

Orientation control of biological cells has gained much attention owing to its extensive applications such as cellular surgery. Currently, many open loop manipulation controllers by utilizing optical tweezers have been developed for cell rotational control, but few studies have been performed for closed-loop cell rotational control with optical tweezers. In this paper, a robust control framework is developed for cell rotational control along Z axis with a robotically controlled optical tweezers. Utilizing dynamic model of the rotated cell, a robust controller is developed, aiming for dealing with the model uncertainty problem, stabilizing optical trapping and manipulation. A Lyapunov-like function is proposed for the stability analysis of the controlled system. Simulation studies are performed to demonstrate effectiveness of the proposed approach.