This article explores nonlinear proportional plus integral (PI) feedback for controlling the position of an object held in an optical trap. In general, nonlinearities in the spatial dependence of the optical force complicate feedback control for optical traps. Nonlinear PI control has been shown to provide all of the benefits of integral control: disturbance rejection, servo tracking, and force estimation. The controller also linearizes the closed-loop system. More importantly, the nonlinear controller is shown to be equivalent to an estimator of the exogenous force. The ability of nonlinear PI control to lower the measurement SNR is evaluated and compared to the variational open-loop case. A simulation demonstrating the performance of the nonlinear PI control is presented.
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January 2012
Research Papers
Nonlinear Proportional Plus Integral Control of Optical Traps for Exogenous Force Estimation
D. G. Cole,
e-mail: dgcole@pitt.edu
D. G. Cole
Department of Mechanical Engineering and Materials Science, Swanson School of Engineering, University of Pittsburgh
, Pittsburgh, PA 15261
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J. G. Pickel
e-mail: jgp2@pitt.edu
J. G. Pickel
Department of Mechanical Engineering and Materials Science, Swanson School of Engineering, University of Pittsburgh
, Pittsburgh, PA 15261
Search for other works by this author on:
D. G. Cole
Department of Mechanical Engineering and Materials Science, Swanson School of Engineering, University of Pittsburgh
, Pittsburgh, PA 15261e-mail: dgcole@pitt.edu
J. G. Pickel
Department of Mechanical Engineering and Materials Science, Swanson School of Engineering, University of Pittsburgh
, Pittsburgh, PA 15261e-mail: jgp2@pitt.edu
J. Dyn. Sys., Meas., Control. Jan 2012, 134(1): 011020 (7 pages)
Published Online: December 6, 2011
Article history
Received:
August 26, 2010
Revised:
June 6, 2011
Online:
December 6, 2011
Published:
December 6, 2011
Citation
Cole, D. G., and Pickel, J. G. (December 6, 2011). "Nonlinear Proportional Plus Integral Control of Optical Traps for Exogenous Force Estimation." ASME. J. Dyn. Sys., Meas., Control. January 2012; 134(1): 011020. https://doi.org/10.1115/1.4004774
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