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Nonlinear Control Techniques for the Atomic Force Microscope System

[+] Author Affiliations
Yongchung Fang, Darren M. Dawson, Nader Jalili

Clemson University, Clemson, SC

Matthew G. Feemster

Weapons and System Engineering Department, Annapolis, MD

Paper No. IMECE2002-33539, pp. 373-380; 8 pages
doi:10.1115/IMECE2002-33539
From:
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME

abstract

In this paper, three nonlinear control techniques are proposed for an atomic force microscope system. Initially, a learning-based control algorithm is developed for the microcantilever–sample system that achieves asymptotic cantilever tip tracking for periodic trajectories. Specifically, the hybrid control approach utilizes a combination of a learning-based feedforward term to compensate for periodic dynamics while hign-gain terms are utilized to account for non-periodic dynamics. An adaptive control algorithm is then developed to achieve asymptotic cantilever tip tracking for bounded tip trajectories despite uncertainty throughout the system parameters. Lastly, a nonlinear controller coupled with a nonlinear observer is designed to provide for asymptotic tracking and interaction force identification unders a set of assumptions.

Copyright © 2002 by ASME

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