Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsing
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RESEARCH ARTICLE
Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsingular terminal sliding mode control Shengdong Yu1,2 · Hongtao Wu2 · Mingyang Xie2 · Haiping Lin3 · Jinyu Ma1,2 Received: 30 March 2020 / Accepted: 9 June 2020 © Zhejiang University Press 2020
Abstract A novel robust controller is proposed in this study to realize the precise motion control of a cell puncture mechanism (CPM) driven by piezoelectric ceramics (PEAs). The entire dynamic model of CPM is constructed based on the Bouc–Wen model, and the nonlinear part of the dynamic model is optimized locally to facilitate the construction of a robust controller. A model-based, nonlinear robust controller is constructed using time-delay estimation (TDE) and fractional-order nonsingular terminal sliding mode (FONTSM). The proposed controller does not require prior knowledge of unknown disturbances due to its real-time online estimation and compensation of unknown terms by using the TDE technology. The controller also has finite-time convergence and high-precision trajectory tracking capabilities due to FONTSM manifold and fast terminal sliding mode-type reaching law. The stability of the closed-loop system is proved by Lyapunov stability theory. Computer simulation and hardware-in-loop simulation experiments of CPM verify that the proposed controller outperforms traditional terminal sliding mode controllers, such as the integer-order or model-free controller. The proposed controller can also continuously output without chattering and has high control accuracy. Zebrafish embryo is used as a verification target to complete the cell puncture experiment. From the engineering application perspective, the proposed control strategy can be effectively applied in a PEA-driven CPM. Keywords Cell puncture mechanism (CPM) · Piezoelectric actuator (PEA) · Robust motion control · Fractional-order nonsingular terminal sliding mode (FONTSM) · Time-delay estimation (TDE)
Introduction
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Jinyu Ma [email protected] Shengdong Yu [email protected] Hongtao Wu [email protected] Mingyang Xie [email protected] Haiping Lin [email protected]
1
Wenzhou Polytechnic, Wenzhou 325000, China
2
Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
3
Hangzhou Vocational and Technical College, Hangzhou 310000, China
Microinjection is a micromanipulation technology that can complete biological operations in cells or embryos [1]. Specifically, microinjection can be used to inject micrometric external substances, such as drugs, sperm, DNA, protein, and RNA, into living cells [2]. Biologists can complete a series of medical research, such as in gene engineering, virus detection [3], drug development, and disease analysis [4], by observing the growth and development of cells [5]. Accordingly, microinjection has attracted the attention of many scholars [6], which has resulted in the development of many cell manipulation methods [7], such as cell localization, puncture, and injection [8]. Among thes
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