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		Yongchun FANG,Matthew FEEMSTER,Darren DAWSON,Nader M.JALILI.[en_title][J].Control Theory and Technology,2005,3(1):85~92.[Copy]

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YongchunFANG,MatthewFEEMSTER,DarrenDAWSON,NaderM.JALILI
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Received:December 18, 2004Revised:March 10, 2005

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Nonlinear control techniques for an atomic force

Yongchun FANG, Matthew FEEMSTER , Darren DAWSON , Nader M.JALILI

(Institute of Robotics and Automatic Information System ,Nankai University , Tianjin 300071 , China ; Weapons and System Engineering Department ,Annapolis ,Maryland ,USA ,21402 - 5025; Clemson University , Clemson ,SC 29634 - 0915:)

Abstract:

Two nonlinear control techniques are proposed for an atomic force microscope system. Initially ,a learning- based control algorithm is developed for the microcantilever-sample system that achieves asymptotic cantilever tip tracking for periodic trajectories. Specifically ,the control approach utilizes a learning- based feedforward term to compensate for periodic dynamics and high- gain terms to account for non-periodic dynamics. An adaptive control algorithm is then developed to achieve asymptotic cantilever tip tracking for bounded tip trajectories despite uncertainty throughout the system parameters. Simulation results are provided to illustrate the efficacy and performance of the control strategies.

Key words: Atomic force microscope Adaptive control Learning control Lyapunov- based stability analysis