ABSTRACT
This chapter focuses on micro-force tracking control of the cell puncture mechanism. A micro-force tracking controller is designed based on the hysteresis dynamics model of the cell puncture mechanism, where time-delay estimation (TDE) technology utilized to estimate the unknown items. The stability of the closed-loop system is analyzed using the bounded input bounded output (BIBO) stability theory. Computer simulation and hardware-in-the-loop simulation experiments were performed to demonstrate the effectiveness of the proposed controller. The main contributions of this chapter are twofold, on one hand, the proposed control strategy can effectively realize the precise tracking of the micro-force signal in the physical implementation; on the other hand, both simulation and hardware-in-the-loop simulation experiment were carried out for the validation of micro-force tracking strategy. The micro-force tracking control of the cell puncture mechanism constructed herein lays the foundation for the subsequent force-position mixing control methodology.
