On the Approximated Control of Optical Tweezers Via Flatness Based Approach

A flatness based control strategy for the manipulation of a microscopical particle is presented in this paper. The strategy was possible due to the fact the Optical Tweezers (OT) is a flat system, with flat outputs given by the horizontal and vertical position coordinates of the geometric center of the laser beam. The controller was designed under the consideration that the particle is suspended in a frictionless medium. Therefore the stability analysis was relatively simple. The effectiveness of the control strategy was tested by numerical simulations, where the system tracked a straight line, an elliptic curve, and carry out the rest-to-rest transfer maneuver task by using a smooth trajectory.