System and method for model-predictive-control-based micro-assembly control with the aid of a digital computer

A method for model-predictive-control-based micro-assembly control with the aid of a digital computer micro-assembly control with the aid of a digital computer, comprising:

• obtaining by one or more of a plurality of processors configured to execute computer-executable code, the processors comprising at least one of one or more graphics processing units (GPUs) and one or more of tensor processing units (TPUs), the one or more parameters of a system for positioning a plurality of chiplets, each of the chiplets comprising a micro-object, the system comprising a plurality of electrodes, the electrodes configured to induce a movement of the chiplets when the chiplets are suspended in a fluid proximate to the electrodes upon a generation of one or more electric potentials by one or more of the electrodes;
• modeling by one or more of the plurality of processors capacitance between the chiplets and the electrodes and the electrodes and capacitance between the chiplets based on the parameters of the system;
• estimating by one or more of the plurality of processors positions of the chiplets based on images taken by at least one camera;
• receiving by one or more of the plurality of processors further positions of at least some of the chiplets;
• performing model predictive control (MPC) optimization to derive based on the capacitance modeling a control scheme for moving the at least some chiplets from the positions to the further positions along trajectories and the electrode potentials necessary for the at least some chiplets to travel the along trajectories, wherein the trajectories are parametrized as smooth, time-dependent functions during the MPC optimization and the electrode potentials are parametrized as smooth time-and-space-dependent functions during the MPC optimization;
• and
• controlling the electrodes to generate the electrode potentials in the control scheme.