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A Neural Network-based Learning Controller for Micro-sized Object Micromanipulation

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3 Author(s)
Shahini, M. ; Waterloo Univ., Waterloo ; Melek, W.W. ; Yeow, J.T.W.

In this paper, automated micro-sized objects manipulation is investigated. The novelty of the proposed method lies on the compensation of all the nonlinear scaling forces which are dominant over gravitational force. A dynamic neural network has been added to a PD conventional controller for automated micromanipulation control. Weight-updating rules have been obtained in such a way that the system is uniformly ultimately bounded (UUB) in the sense of Lyapunov. Simulation results for controlled pushing of a micro-object have been illustrated and the efficiency of the method has been shown by comparing its result with that of a linear controller.

Published in:

Neural Networks, 2007. IJCNN 2007. International Joint Conference on

Date of Conference:

12-17 Aug. 2007