Optical Manipulation of Biological Cells With a Robot-Tweezers System: A Stochastic Control Approach

摘要

Cell manipulation is a key technique involved in many cell surgery applications. Various automatic frameworks have been developed for optical manipulation of biological cells without consideration of stochastic perturbations, such as Brownian motion. In this brief, a stochastic control scheme for optical manipulation of biological cells is developed. On the basis of the stochastic dynamic model of an optically trapped biological cell, a vectorial backstepping control strategy and its adaptive case is formulated for cell trajectory tracking. The global noise-to-state stability of a closed-loop system in the presence of stochastic perturbations is analyzed. Simulation results demonstrate the performance of the proposed approach.