A Robust Framework for Cell Orientation Control by Using a Robot-Aided Optical Tweezers Manipulation System

Biological cells orientation control is a vital important technique involved in cell surgery research. Currently, most the reported approaches to the cell orientation control are performed manually, with low precision and repeatability. Optical tweezers have exhibited significant advantages in manipulation of single cells, including cell orientation control. Some reported approaches for cell orientation control have adopted a simple PID type control, neglecting the model uncertainties and external disturbances. In this paper, a robust control strategy is presented to achieve orientation control of single cells with enhanced manipulation reliability and robustness. The stability and robustness of the closed-loop control system is analyzed based on a direct Lyapunov method. Both simulation and experimental results are shown to illustrate the effectiveness of the proposed approach.