engleski

CONTROL OF NANOROBOT MOTION IN A MULTIPOTENTIAL FIELD

A relativistic Hamiltonian of the nanorobot motion in a multipotential field that includes external artificial control potential field has been presented by Novakovic et al. in 2009. Starting with the non-relativistic approximation of that Hamiltonian, the canonical differential equations of the nanorobot motion in a multipotential field has been derived (Novakovic et al., 2010). In this paper we continue to investigate the related control algorithms for a nanorobot motion in a multipotential field. In that sense the concept of the external linearization has been introduced to the canonical differential equations of the nanorobot motion in a multipotential field. We use the nonlinear control algorithm that in the closed loop with the nonlinear canonical differential equations of the nanorobot motion is resulting in the linear behavior of the whole system. In that case the well known procedures for control synthesis of the linear systems can be applied to the co

artificial control field; nanorobot control; external linearization.

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