Model-free robust motion control for biological optical microscopy using time-delay estimation with an adaptive RBFNN compensator.

The field of large numerical aperture microscopy has witnessed significant advancements in spatial and temporal resolution, as well as improvements in optical microscope imaging quality. However, these advancements have concurrently raised the demand for enhanced precision, extended range, and increased load-bearing capacity in objective motion carrier (OMC). To address this challenge, this study introduces an innovative OMC that employs a ball screw mechanism as its primary driving component. Furthermore, a robust nonlinear motion control strategy has been developed, which integrates fast nonsingular terminal sliding mode, experimental estimation techniques, and adaptive radial basis neural network, to mitigate the impact of nonlinear friction within the ball screw mechanism on motion precision. The stability of the closed-loop control system has been rigorously demonstrated through Lyapunov theory. Compared with other enhanced sliding mode control strategies, the maximum error and root mean square error of this controller are improved by 33% and 34% respectively. The implementation of the novel OMC has enabled the establishment of a high-resolution bio-optical microscope, which has proven its effectiveness in the microscopic imaging of retinal organoids. • Novel SMC Strategy: To address the limitations of traditional SMC, characterized by high gains and pronounced chattering, a novel SMC strategy is introduced. • Online Estimation and Compensation: The utilization of TDE techniques enables online estimation and real-time compensation of unknown terms. • Biophotonic Microscope Development: The research culminates in the development of a biophotonic microscope, wherein the objective motion carrier plays a crucial role in achieving focal plane movement. [ABSTRACT FROM AUTHOR]