Backstepping and backstepping sliding mode controller for droplet position in electrowetting on Dielectric system

In electrowetting on Dielectric (EWOD) systems, a micro droplet is actuated to move from one electrode to another electrode. The movement of the droplet can be utilized in many applications for example Lab on Chip (LOC), micro assembly, and micro robot. The accuracy of the droplet transportation is one of the important issues. The movement of the droplet can be modelled as the dynamics of the rigid body under the linear and nonlinear forces. In order to gain the accuracy movement of the droplet, the nonlinear feedback control can be applied to the EWOD system. The aim of this paper is to study and investigate the feasibility of backstepping and backstepping sliding mode techniques to control the micro droplet position with and without disturbance signal respectively. Then, the simulation of the both control systems were carried out. The simulation results showed that both control techniques were able to control the droplet position accurately.