Closed-Loop Control of Trajectory Tracking a Microparticle through an Electromagnetic Manipulation System

With the advantages of minimally invasive feature and insensitivity to biological substances, magnetic force-based manipulation has exhibited great biomedical application potential, where microparticles are driven to follow desired trajectories. This study proposes a closed-loop control approach for automated manipulation of magnetic microbeads using a selfmade electromagnetic coil system. A visual-based closed-loop controller that incorporates the concept of input-to-state stability is developed, which enables the bead to follow the desired trajectory successfully, while maintaining the tracking error within a local area under model uncertainties and environmental disturbances. A high-gain observer is further designed to estimate the bead velocity, which solves the difficulty of measuring the bead velocity via visual feedback. Simulation and experimental results demonstrate that the proposed method could be effective.