Oscillation Suppression of Acoustic Trapping: A Disturbance Observer-based Approach
Yuyu Jia, Yizhou Gong, Mingyue Wang, Zhenhuan Sun, Yalin Shi, Yang Wang, Song Liu
Abstract
Acoustic tweezers have been a valuable tool across various fields, from nano-microfabrication to biology. Their unique characteristics enable three-dimensional particle manipulation, where acoustic trapping serves as a fundamental requirement. However, traditional methods struggle to maintain steady particle positioning due to nonlinear forces and complex dynamic coupling effects. As a result, particle oscillations are inevitable and cannot be effectively compensated by predesigned acoustic trapping. To address these challenges, this study introduces a novel visual feedback control approach that dynamically adjusts the acoustic field distribution to mitigate oscillations along the z-axis of the acoustic trapping. A binocular microscopic vision system is employed for precise particle localization, while a disturbance observer estimates the effects of strong nonlinearity and uncertainties of the acoustic trapping. The proposed methodology is validated through simulations and experiments, demonstrating a significant reduction in z-axis oscillations from 1.33× wavelength to within 0.03× wavelength. This advancement marks a step forward in achieving precise and complex acoustic manipulation using traveling-wave acoustic tweezers.
BibTeX
@inproceedings{iros2025_oscillationsuppr,
title = {Oscillation Suppression of Acoustic Trapping: A Disturbance Observer-based Approach},
author = {Yuyu Jia and Yizhou Gong and Mingyue Wang and Zhenhuan Sun and Yalin Shi and Yang Wang and Song Liu},
booktitle = {IROS 2025},
year = {2025}
}