Optimal sliding mode control for atomic force microscope tip positioning during nano-manipulation process

This research presents two-dimensional controlled pushing-based nanomanipulationusing an atomic force microscope (afm). a reliable control of the afm tipposition is crucial to afm-based manipulation since the tip can jump over the targetnanoparticle causing the process to fail. however, detailed modeling and an understandingof the interaction forces on the afm tip have a central role in this process. in the proposedmodel, the lund-grenoble (lugre) method is used to model the dynamic friction forcebetween the nanoparticle and the substrate. this model leads to the stick-slip behaviorof the nanoparticle, which is in agreement with the experimental behavior at nanoscale.derjaguin interaction force, which includes both attractive and repulsive interactions, isused to model the contact between the tip and nanoparticle. afm is modeled by thelumped-parameter model. a controller is designed based on the proposed dynamic modelfor positioning of the afm tip during a desired nanomanipulation task. an optimal slidingmode approach is used to design the controller, and the performance of the controller isshown by the simulation.