Pub Date : 2016-08-01DOI: 10.1109/ACC.2016.7525142
Z. Gallehdari, N. Meskin, K. Khorasani
In this work, the control recovery problem in a directed network of switched multi-agent systems is studied. A distributed cooperative control strategy is proposed which ensures that the agents reach a consensus while the upper bound of the team performance index is minimized even when the agents are subject to actuator faults where fault severity estimation uncertainties are presented. Using quadratic Lyapunov functions, a reconfiguration strategy is provided to design the gains of the proposed distributed reconfigurable control laws such that the team objectives are guaranteed. Our proposed reconfigurable control laws are applied to a team of seven autonomous underwater vehicles under directed switching topology and subject to simultaneous actuator faults. Simulation results demonstrate the effectiveness of the proposed reconfiguration control laws in compensating for the effects of sudden actuator faults and uncertainties.
{"title":"Suboptimal control reconfiguration in switched multi-agent networked systems","authors":"Z. Gallehdari, N. Meskin, K. Khorasani","doi":"10.1109/ACC.2016.7525142","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525142","url":null,"abstract":"In this work, the control recovery problem in a directed network of switched multi-agent systems is studied. A distributed cooperative control strategy is proposed which ensures that the agents reach a consensus while the upper bound of the team performance index is minimized even when the agents are subject to actuator faults where fault severity estimation uncertainties are presented. Using quadratic Lyapunov functions, a reconfiguration strategy is provided to design the gains of the proposed distributed reconfigurable control laws such that the team objectives are guaranteed. Our proposed reconfigurable control laws are applied to a team of seven autonomous underwater vehicles under directed switching topology and subject to simultaneous actuator faults. Simulation results demonstrate the effectiveness of the proposed reconfiguration control laws in compensating for the effects of sudden actuator faults and uncertainties.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132902219","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-08-01DOI: 10.1109/ACC.2016.7526617
Chi Wang, E. Jonckheere, Reza Banirazi
This paper proceeds from the premise that the topology of interference constrained wireless networks heavily impacts their node-to-node delay, routing energy, and capacity region. We quantitatively analyze how the discrete Ollivier-Ricci curvature of a network affects the performance metrics of several routing protocols. Since different protocols are optimal relative to different metrics under different topologies, an adaptive control system is proposed that identifies the topology curvature and selects the best protocol under current circumstances subject to user needs. Also, we analyze how sensitive the four routing protocols (Heat Diffusion, Dirichlet, Back Pressure and Shortest Path Routing) under examination are to varying topological environment, as it would commonly be encountered in wireless networks.
{"title":"Interference constrained network control based on curvature","authors":"Chi Wang, E. Jonckheere, Reza Banirazi","doi":"10.1109/ACC.2016.7526617","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526617","url":null,"abstract":"This paper proceeds from the premise that the topology of interference constrained wireless networks heavily impacts their node-to-node delay, routing energy, and capacity region. We quantitatively analyze how the discrete Ollivier-Ricci curvature of a network affects the performance metrics of several routing protocols. Since different protocols are optimal relative to different metrics under different topologies, an adaptive control system is proposed that identifies the topology curvature and selects the best protocol under current circumstances subject to user needs. Also, we analyze how sensitive the four routing protocols (Heat Diffusion, Dirichlet, Back Pressure and Shortest Path Routing) under examination are to varying topological environment, as it would commonly be encountered in wireless networks.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127260509","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-08-01DOI: 10.1109/ACC.2016.7524987
Omar Aljanaideh, M. Rakotondrabe, Hussam J. Khasawneh, M. A. Janaideh
In [1], a new technique based on the rate-dependent Prandtl-Ishlinskii model (RDPI) is presented to compensate for the rate-dependent hysteresis nonlinearities effects in piezomicropositioning actuators. In this paper the validity of the proposed compensator is further examined on a magnetostrictive Terfenol-D actuator under input current amplitude of 2.3 A applied at different excitation frequencies. The simulation and experimental results show that the proposed compensator can effectively compensate for the rate- dependent hysteresis nonlinearities in a high efficient manner without formulating an inverse model.
{"title":"Rate-dependent Prandtl-Ishlinskii hysteresis compensation using inverse-multiplicative feedforward control in magnetostrictive Terfenol-D based actuators","authors":"Omar Aljanaideh, M. Rakotondrabe, Hussam J. Khasawneh, M. A. Janaideh","doi":"10.1109/ACC.2016.7524987","DOIUrl":"https://doi.org/10.1109/ACC.2016.7524987","url":null,"abstract":"In [1], a new technique based on the rate-dependent Prandtl-Ishlinskii model (RDPI) is presented to compensate for the rate-dependent hysteresis nonlinearities effects in piezomicropositioning actuators. In this paper the validity of the proposed compensator is further examined on a magnetostrictive Terfenol-D actuator under input current amplitude of 2.3 A applied at different excitation frequencies. The simulation and experimental results show that the proposed compensator can effectively compensate for the rate- dependent hysteresis nonlinearities in a high efficient manner without formulating an inverse model.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127792549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-08-01DOI: 10.1109/ACC.2016.7525051
R. Dutta, Liang Sun, D. Pack
In this paper, we investigate a target-centric formation controller for multiple unmanned aerial vehicles (UAVs), and explore its ability to maintain as well as to control network connectivity. Desired formations and connectivities of multi-agent system are achieved using a distributed nonlinear controller. We present a sufficient condition to maintain network connectivity by posing bounds on the controller gains. Moreover, we show how a desired network connectivity profile can be obtained by varying controller gains during dynamics. Simulation results validate the effectiveness of the decentralized formation controller in controlling as well as maintaining connectivity.
{"title":"Multi-agent formation control with maintaining and controlling network connectivity","authors":"R. Dutta, Liang Sun, D. Pack","doi":"10.1109/ACC.2016.7525051","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525051","url":null,"abstract":"In this paper, we investigate a target-centric formation controller for multiple unmanned aerial vehicles (UAVs), and explore its ability to maintain as well as to control network connectivity. Desired formations and connectivities of multi-agent system are achieved using a distributed nonlinear controller. We present a sufficient condition to maintain network connectivity by posing bounds on the controller gains. Moreover, we show how a desired network connectivity profile can be obtained by varying controller gains during dynamics. Simulation results validate the effectiveness of the decentralized formation controller in controlling as well as maintaining connectivity.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115284907","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-07-28DOI: 10.1109/ACC.2016.7525575
D. B. Pourkargar, A. Armaou
We present a framework to address the dynamic response shaping question of nonlinear transport-reaction chemical processes. The spatiotemporal behavior of such processes can be described in the form of dissipative partial differential equations (PDEs), the modal infinite-dimensional representation of which can in principle be partitioned into two subsystems; a finite-dimensional slow and its complement infinite-dimensional fast and stable subsystem. The dynamic shaping problem is addressed via regulation of error dynamics between the process and a desired spatiotemporal behavior presented by a target PDE system. We approximate the infinite-dimensional nature of the systems via model order reduction; adaptive proper orthogonal decomposition (APOD) is used to compute and recursively update the set of empirical basis functions required by Galerkin projection to build switching reduced order models of the spatiotemporal dynamics. Then, the nonlinear output feedback control design is formulated by combination of a feedback control law and a nonlinear Luenberger type dynamic observer to regulate the error dynamics. The effectiveness of the proposed control approach is demonstrated on shaping the thermal dynamics of an exothermic reaction in a catalytic chemical reactor.
{"title":"Spatiotemporal response shaping of transport-reaction processes via adaptive reduced order models","authors":"D. B. Pourkargar, A. Armaou","doi":"10.1109/ACC.2016.7525575","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525575","url":null,"abstract":"We present a framework to address the dynamic response shaping question of nonlinear transport-reaction chemical processes. The spatiotemporal behavior of such processes can be described in the form of dissipative partial differential equations (PDEs), the modal infinite-dimensional representation of which can in principle be partitioned into two subsystems; a finite-dimensional slow and its complement infinite-dimensional fast and stable subsystem. The dynamic shaping problem is addressed via regulation of error dynamics between the process and a desired spatiotemporal behavior presented by a target PDE system. We approximate the infinite-dimensional nature of the systems via model order reduction; adaptive proper orthogonal decomposition (APOD) is used to compute and recursively update the set of empirical basis functions required by Galerkin projection to build switching reduced order models of the spatiotemporal dynamics. Then, the nonlinear output feedback control design is formulated by combination of a feedback control law and a nonlinear Luenberger type dynamic observer to regulate the error dynamics. The effectiveness of the proposed control approach is demonstrated on shaping the thermal dynamics of an exothermic reaction in a catalytic chemical reactor.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123256181","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-07-28DOI: 10.1109/ACC.2016.7525039
Saeed Salavati Dezfuli, B. Ebrahimi, K. Grigoriadis, M. Franchek
Robust stability synthesis of a class of uncertain parameter-varying first-order time-delay systems is presented in this paper. Internal model principle is used to design a robust control using ℋ∞ small-gain theorem. The closed-loop system robustness is investigated against bounded variation of the parameters and sensitivity analysis is performed to determine the stability conditions and provide a systematic framework to derive an explicit delay-dependent stability bound for the tuning parameter. The tuning parameter is further refined through performance analysis incorporating the complementary sensitivity function. Finally, the closed-loop response of a typical delay system is demonstrated for various operating conditions and parameters variations.
{"title":"Internal model control for a class of uncertain time-delay systems","authors":"Saeed Salavati Dezfuli, B. Ebrahimi, K. Grigoriadis, M. Franchek","doi":"10.1109/ACC.2016.7525039","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525039","url":null,"abstract":"Robust stability synthesis of a class of uncertain parameter-varying first-order time-delay systems is presented in this paper. Internal model principle is used to design a robust control using ℋ∞ small-gain theorem. The closed-loop system robustness is investigated against bounded variation of the parameters and sensitivity analysis is performed to determine the stability conditions and provide a systematic framework to derive an explicit delay-dependent stability bound for the tuning parameter. The tuning parameter is further refined through performance analysis incorporating the complementary sensitivity function. Finally, the closed-loop response of a typical delay system is demonstrated for various operating conditions and parameters variations.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116580947","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-07-06DOI: 10.1109/ACC.2016.7525601
Adam Schroeder, Manish Kumar
Design of control laws for robots operating cooperatively, whereby individual tasks need to be allocated among available agents, is critical to the overall performance of the system. Some biological examples of this type of system in nature, such as ant colonies, use chemotactic, or chemical pheromone-driven, mechanisms to control the behavior of each individual agent. This work uses a set of reaction-diffusion equations to form a decentralized control law which results in emergent area coverage behavior. The influence of pheromone diffusion and evaporation, which are environmental mechanisms affecting the chemical pheromone, is studied and the resulting area coverage performance is quantified. Likewise, the impact on area coverage performance due to the addition of noise to the control law is studied. The contribution of this work is to show how these parameters affect area coverage performance. Results show that the magnitude of noise added is the most critical component affecting the performance of the algorithm in exhaustively covering the given area.
{"title":"Design of decentralized chemotactic control law for area coverage using swarm of mobile robots","authors":"Adam Schroeder, Manish Kumar","doi":"10.1109/ACC.2016.7525601","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525601","url":null,"abstract":"Design of control laws for robots operating cooperatively, whereby individual tasks need to be allocated among available agents, is critical to the overall performance of the system. Some biological examples of this type of system in nature, such as ant colonies, use chemotactic, or chemical pheromone-driven, mechanisms to control the behavior of each individual agent. This work uses a set of reaction-diffusion equations to form a decentralized control law which results in emergent area coverage behavior. The influence of pheromone diffusion and evaporation, which are environmental mechanisms affecting the chemical pheromone, is studied and the resulting area coverage performance is quantified. Likewise, the impact on area coverage performance due to the addition of noise to the control law is studied. The contribution of this work is to show how these parameters affect area coverage performance. Results show that the magnitude of noise added is the most critical component affecting the performance of the algorithm in exhaustively covering the given area.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115303974","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-07-06DOI: 10.1109/ACC.2016.7526602
Shahram Hajshirmohamadi, M. Davoodi, N. Meskin, F. Sheikholeslam
This paper studies the design and development of event-triggered fault detection (FD) filters for discrete-time linear multi-agent systems. For each agent, an FD filter is designed that receives the output measurements from its neighboring agents whenever specific event conditions are satisfied. With our proposed methodology all agents collaborate with one another to detect the occurrence of faults in the team and each agent not only can detect its own fault but also is capable of detecting its neighbor's fault. The filter parameters and the event conditions are designed such that a mixed H∞/H- performance index is guaranteed and it is shown that by using an event-triggered technique, the amount of data that is sent by each agent to its neighboring agents is dramatically decreased. Sufficient conditions for the solvability of the problem are obtained in terms of linear matrix inequalities (LMIs) where extended LMI characterizations are used to reduce the conservativeness of the multi-objective H∞/H- problem. Simulation results corresponding to a team of autonomous unmanned underwater vehicles demonstrate and illustrate the effectiveness and capabilities of the proposed methodology.
{"title":"Event-triggered fault detection for discrete-time linear multi-agent systems","authors":"Shahram Hajshirmohamadi, M. Davoodi, N. Meskin, F. Sheikholeslam","doi":"10.1109/ACC.2016.7526602","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526602","url":null,"abstract":"This paper studies the design and development of event-triggered fault detection (FD) filters for discrete-time linear multi-agent systems. For each agent, an FD filter is designed that receives the output measurements from its neighboring agents whenever specific event conditions are satisfied. With our proposed methodology all agents collaborate with one another to detect the occurrence of faults in the team and each agent not only can detect its own fault but also is capable of detecting its neighbor's fault. The filter parameters and the event conditions are designed such that a mixed H∞/H- performance index is guaranteed and it is shown that by using an event-triggered technique, the amount of data that is sent by each agent to its neighboring agents is dramatically decreased. Sufficient conditions for the solvability of the problem are obtained in terms of linear matrix inequalities (LMIs) where extended LMI characterizations are used to reduce the conservativeness of the multi-objective H∞/H- problem. Simulation results corresponding to a team of autonomous unmanned underwater vehicles demonstrate and illustrate the effectiveness and capabilities of the proposed methodology.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115408568","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-07-06DOI: 10.1109/ACC.2016.7525178
Mudassir M. Rashid, P. Mhaskar, C. Swartz
This work considers the problem of economic model predictive control (EMPC) of electric arc furnaces (EAF), subject to the limited availability of process measurements and noise. The key issues addressed are: (1) the multi-rate sampling of process variables; and (2) the requirement of optimized operation that achieves desired product specifications and also minimizes the operating costs. To this end, we identify data-driven models that capture the temporal dynamics of process measurements sampled at different rates. The resulting multi-rate models are used to design a two-tiered predictive controller that enables achieving the target end-point while minimizing the associated costs. The EMPC is implemented on the EAF process and the closed-loop simulation results illustrate the improvement in economic performance over existing trajectory-tracking approaches.
{"title":"Economic model predictive control of the electric arc furnace using data-driven multi-rate models","authors":"Mudassir M. Rashid, P. Mhaskar, C. Swartz","doi":"10.1109/ACC.2016.7525178","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525178","url":null,"abstract":"This work considers the problem of economic model predictive control (EMPC) of electric arc furnaces (EAF), subject to the limited availability of process measurements and noise. The key issues addressed are: (1) the multi-rate sampling of process variables; and (2) the requirement of optimized operation that achieves desired product specifications and also minimizes the operating costs. To this end, we identify data-driven models that capture the temporal dynamics of process measurements sampled at different rates. The resulting multi-rate models are used to design a two-tiered predictive controller that enables achieving the target end-point while minimizing the associated costs. The EMPC is implemented on the EAF process and the closed-loop simulation results illustrate the improvement in economic performance over existing trajectory-tracking approaches.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"197 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124401034","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-07-06DOI: 10.1109/ACC.2016.7525086
Juan Ren, Q. Zou
In this paper, an adaptive-scanning mode (ASM) of atomic force microscopy (AFM) with near-minimum deformation is proposed for imaging live biological samples in liquid. Due to the intrinsic softness of life science samples, conventional contact mode (CM) topography imaging is rather slow (scan rate <; 0.2 Hz) as significant sample deformation caused by the tip-sample interaction occurs when the imaging speed increases. Such a low speed CM is not only time consuming, but also incapable of capturing dynamic evolution of life science samples. The proposed ASM approach addresses these challenges by combining an online adaptive-scanning speed optimization to accommodate the sample topography variation and tip-sample interaction force for the lateral sample deformation minimization with a gradient based deflection set-point optimization scheme along with a data driven iterative feedforward control approach for the vertical sample deformation minimization. The ASM technique was experimentally validated through imaging live human prostate cancer cells. Compare to the conventional CM imaging, the ASM technique was able to increase the imaging speed over eight times while preserving the topography details of the live cells and substantially lowering the tip-sample interaction force.
{"title":"Adaptive-scanning, near-minimum-deformation atomic force microscope imaging of soft sample in liquid: Live mammalian cell example?","authors":"Juan Ren, Q. Zou","doi":"10.1109/ACC.2016.7525086","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525086","url":null,"abstract":"In this paper, an adaptive-scanning mode (ASM) of atomic force microscopy (AFM) with near-minimum deformation is proposed for imaging live biological samples in liquid. Due to the intrinsic softness of life science samples, conventional contact mode (CM) topography imaging is rather slow (scan rate <; 0.2 Hz) as significant sample deformation caused by the tip-sample interaction occurs when the imaging speed increases. Such a low speed CM is not only time consuming, but also incapable of capturing dynamic evolution of life science samples. The proposed ASM approach addresses these challenges by combining an online adaptive-scanning speed optimization to accommodate the sample topography variation and tip-sample interaction force for the lateral sample deformation minimization with a gradient based deflection set-point optimization scheme along with a data driven iterative feedforward control approach for the vertical sample deformation minimization. The ASM technique was experimentally validated through imaging live human prostate cancer cells. Compare to the conventional CM imaging, the ASM technique was able to increase the imaging speed over eight times while preserving the topography details of the live cells and substantially lowering the tip-sample interaction force.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123164924","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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