Is output voltage of tps61041 adjustable by microprocessor
It's adjustable by means of the resistor divider used to sense the output voltage and compare to the internal reference.  There's no digital interface to adjust the output voltage.

One way to adjust the output voltage via microcontroller is to use a resistor to sum an external voltage (generated by a DAC via the micro) into the FB pin node.  This will allow you to shift the voltage up and down by changing the DAC voltage.

Here's an example of how this would look (From Maxim):



Resulting in the following equations:



You could experiment with a PWM DAC instead of an actual DAC to see if you can get the performance you are looking for.