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Micro/nano-manipulation systems have been developed and utilized for decades due to their irreplaceable roles in fields such as MEMS/NEMS fabrication and biological studies. Generally, the motion precision of a micro/nano-manipulator highly depends on its actuator, whose performance can be enhanced by proper control strategies. To design satisfactory controllers, an accurate plant model is ideal....
In this paper, we propose a distance-based formation control strategy that can enable four mobile agents, which are modelled by a group of single-integrators, to achieve the desired formation shape specified by using six consistent inter-agent distances in a 2-dimensional space. The control law is closely related to a gradient-based control law formed from a potential function reflecting the error...
The control systems resulting from seeking to control the shape of a rigid formation are frequently described by gradient flows which are designed to minimize some predefined and relevant potential functions linked to the desired formation shape. This paper discusses and establishes a rank-preserving property of such formation shape stabilization systems. We further show some properties of the degenerate...
Atomic force microscopy (AFM) is a powerful measurement instrument, which has been widely implemented in various fields. To enhance the maneuverability, an AFM can be modified and its cantilever can be controlled as a robotic end-effector. To precisely control the nanorobots, their scanners inherent hysteresis, which is the main disadvantage, should be compensated sufficiently. Mostly, hysteresis...
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