Control of micromanipulation in the presence of van der waals force

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.