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Theses

Modelling and control of nanometric systems based on tunneling current sensor

Abstract : The objective of this thesis was to control the nano-positioning system using tunneling current with the real-time validation over an experimental platform developed in Gipsa-lab. This thesis lies in the domain of control for micro and nano-mechatronics systems for the applications of scanning probe microscopy and ultra-precise positioning. At nanometer scale, the problems of noise, vibrations, nonlinearity and instability influence the precision of the measurement. The objective was to deal with these constraints by using the modern techniques of robust control. In this thesis, a system of tunneling current measurement has been modelled and the control problem has been formulated in terms of desired measurement performances. Then, robust control design laws are analyzed in order to achieve better performances in terms of measurement precision and rejection of certain disturbances with robustness. These control laws are experimentally validated (at ambient atmosphere) for a platform of Gipsa-lab. At the end of this thesis, a dynamic modelling of MIMO system for an application of scanning the surface with an atomic resolution has been proposed and a MIMO controller in order to reduce the positioning error due to coupling has been validated in simulations.
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  • HAL Id : tel-00663060, version 2

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Irfan Ahmad. Modelling and control of nanometric systems based on tunneling current sensor. Other. Université de Grenoble, 2011. English. ⟨NNT : 2011GRENT082⟩. ⟨tel-00663060v2⟩

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