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IJCNN
2007
IEEE

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

10 years 9 months ago
A Neural Network-based Learning Controller for Micro-sized Object Micromanipulation
Abstract— 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.
Mohsen Shahini, William W. Melek, John T. W. Yeow
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IJCNN
Authors Mohsen Shahini, William W. Melek, John T. W. Yeow
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