Setpoint Regulation for Stochastically Interacting Robots

Video about an integral feedback controller that regulates the average copy number of an assembly in a system of stochastically interacting robots. The mathematical model for these robots is a tunable reaction network, which makes this approach applicable to a large class of other systems, including ones that exhibit stochastic self-assembly at various length scales. This controller works for a range of setpoints and how to compute this range both analytically and experimentally. These ideas are demonstrated on a physical testbed.

[video=youtube;gW9E-6rl4zc]https://www.youtube.com/watch?v=gW9E-6rl4zc&feature=player_embedded[/video]