, Volume 30, Issue 1, pp 57-71,
Open Access This content is freely available online to anyone, anywhere at any time.

Setpoint regulation for stochastically interacting robots


We present 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. We prove that this controller works for a range of setpoints and how to compute this range both analytically and experimentally. Finally, we demonstrate these ideas on a physical testbed.