Adaptive Control of an Optical Tweezers System With Closed Architecture

摘要

Most industrial optical tweezers have a closed control architecture which restricts any modification to its inner/low-level control loop. As a result, the advanced robotic controller that requires an open low-level control loop cannot be implemented directly on the optical tweezers system with closed architecture. To resolve this issue, we propose an adaptive outer loop control scheme to generate the velocity (or position) command for the low-level control loop. We introduce an outer feedback loop to the closed architecture system so that the velocity (or position) command can be effectively realized on industrial optical tweezers in a stable manner. Thus with this design, the outer user-specified control loop is totally independent of the fixed inner control loop. We demonstrate the performance of the proposed approach through numerical simulations.