High-resolution Microscope Motion Control Based on Adaptive Finite-time Control Strategy
A nonlinear robust motion control strategy was proposed to achieve precise movement of objective motion carrier in context of large numerical aperture microscopy imaging technology,which required a long stroke,high precision,and large load capabilities.An optical path system and a virtual prototype of a large numerical aperture microscope were designed.In addition,a ball-screw-driven objective motion carrier was designed,and the backlash of ball-screw was eliminated by double nut preloading method.To achieve finite-time convergence of system state and improve system robust-ness,an adaptive technology was employed in nonsingular terminal sliding mode control.Further-more,to address nonlinear friction effect in ball-screw transmission mechanisms,TDE technology was employed to realize online estimation and real-time compensation of friction forces.TDE technolo-gy and adaptive nonsingular terminal sliding mode control were adopted to achieve model-free control characteristics.The stability of closed-loop system was proved by Lyapunov theory.Consequently,a high-resolution optical microscope was developed to achieve precise movement of objective motion car-rier,and microscopic images of mouse cardiac muscle cells were acquired to demonstrate the effective-ness of the proposed algorithm.
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