Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/13971
Title: Control of micromanipulation in the presence of van der waals force
Authors: CHUA KIAN TI
Keywords: micromanipulation, control, van der Waals force, long-range effect, inverse dynamics robust control, dynamic model
Issue Date: 1-Jun-2004
Source: CHUA KIAN TI (2004-06-01). Control of micromanipulation in the presence of van der waals force. ScholarBank@NUS Repository.
Abstract: The significant amount of the long-range van der Waals force can disturb the dynamics of the micromanipulation system. The control of the system has to be able to reduce the influence of the van der Waal force. This thesis has investigated various control approaches on micromanipulation under this influence of van der Waals force. It also examined the ability of the control laws in attenuating the effect of the force on the system. For the investigation, simulations were conducted on a micromanipulation system, which was developed with a task of transferring an object from a designated distance to touch another object. The dynamic model of the system incorporating the van der Waals force formula has been developed. This model was used to derive the nonlinear inverse dynamics robust control which gives a satisfactory result. Besides, linear PID and lead-lag controller were also employed for comparison.
URI: http://scholarbank.nus.edu.sg/handle/10635/13971
Appears in Collections:Master's Theses (Open)

Show full item record
Files in This Item:
File Description SizeFormatAccess SettingsVersion 
ChuaKT_thesis.pdf561.43 kBAdobe PDF

OPEN

NoneView/Download

Page view(s)

205
checked on Dec 11, 2017

Download(s)

164
checked on Dec 11, 2017

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.