October 13, 2023 11:00 am – 12:00 pm
Location: TSRB Auditorium, 132
Mark Spong
Professor
Systems Engineering
University of Texas at Dallas
Abstract
In this talk we investigate the problem of stabilization of a spherical particle trapped inside an optical tweezer using a Control Lyapunov Function (CLF) approach. The proposed CLF framework enables nonlinear optimization-based closed-loop control using optical tweezers and serves as a first step towards design of effective control algorithms for nanomanipulation of biomolecules. After deriving necessary and sufficient conditions for having smooth uniform CLFs for the optical tweezer control system under study, we present a static nonlinear programming problem (NLP) for generation of robustly stabilizing feedback control inputs. An appealing feature of the proposed CLF framework is the ability to constrain temperature increases due to laser heating through proper inequalities encoded in the CLF based NLP. Numerical simulations demonstrate the effectiveness of the proposed control framework in the presence of external disturbances and initial bead positions that are located far away from the laser beam.
Biography
Mark W. Spong received the D.Sc. degrees in systems science and mathematics in 1981 from Washington University in St. Louis. He has held faculty positions at Lehigh University, Cornell University, the University of Illinois at Urbana-Champaign, and the University of Texas at Dallas. He is currently Professor of Systems Engineering and holds the Excellence in Education Chair at the University of Texas at Dallas. From 2008-2017 he was the Dean of the Erik Jonsson School of Engineering and Computer Science at UT-Dallas.
Dr. Spong is Past President of the IEEE Control Systems Society and Fellow of both the IEEE and IFAC. His main research interests are in robotics, mechatronics, and nonlinear control theory. He has authored or coauthored more than 300 technical articles in control and robotics, seven books and holds one patent. He has made fundamental contributions in robust and nonlinear control of robot manipulators, teleoperators, bipedal walking robots, and multi-robot systems.
His notable awards include the 2020 Rufus Oldenberger Medal from the ASME, the 2018 Bode Lecture Prize from the IEEE Control Systems Society, the 2016 Nyquist Lecture Prize from the ASME, the 2011 Pioneer in Robotics Award from the IEEE Robotics and Automation Society, the first IROS Fumio Harashima Award for Innovative Technologies in 2007, the IEEE Transactions on Control Systems Technology Outstanding Paper Award, the Senior Scientist Research Award from the Alexander von Humboldt Foundation, the Distinguished Member Award from the IEEE Control Systems Society, the John R. Ragazzini and O. Hugo Schuck Awards from the American Automatic Control Council, and the IEEE Third Millennium Medal.
