Robust orientation control of multi-DOF cell based on uncertainty and disturbance estimation

Multiple degrees-of-freedom (multi-DOF) cell orientation control is a vital important technique involved in single cell surgery applications. Currently, few studies have been performed toward automation of multi-DOF cell orientation control using robotically controlled optical tweezers. In this paper, a robust control framework is developed to perform multi-DOF cell rotational control with consideration of model uncertainties and external disturbances. Both simulation and experimental studies are presented to illustrate the performance of the proposed control strategy. The main contributions of this work lie in that this is the first time to develop a unified framework to achieve multi-DOF cell orientation control without the need for accurate dynamic model parameters and/or any knowledge about uncertainty characteristic, which greatly enhances the robustness of the overall system.