A stabilizing control technique for minimally invasive surgical robot with uncertain dynamic parameters

Author

Zhang, S.J. ; Ning, Y.

Author_Institution

Dept. of Electr. Eng., Henan Univ. of Technol., Zhengzhou, China

fYear

2014

Firstpage

2697

Lastpage

2702

Abstract

In order to realize the stabilization and the tracking performance of MIS (minimally invasive surgical) robot control system in the presence of uncertainty in the system dynamics, the linearization of the MIS tele-operation system model is processed firstly. Furthermore, the robust control problem is formulated as a robust state feedback stabilization problem subject to parameter uncertainties and a robust compensation problem. And then, based on the robust parametric approach, eigenstructure assignment and reference model tracking theory, a parametric optimization method for robust controller design is presented. The simulation results show the effectiveness of the proposed approach.

Keywords

control system synthesis; eigenvalues and eigenfunctions; linearisation techniques; medical robotics; optimisation; robust control; state feedback; surgery; telerobotics; uncertain systems; MIS teleoperation system model; eigenstructure assignment; linearization; minimally invasive surgical robot; parameter uncertainty; parametric optimization method; reference model tracking theory; robust compensation problem; robust controller design; robust parametric approach; robust state feedback stabilization problem; stabilizing control technique; uncertain dynamic parameter; Closed loop systems; Mathematical model; Minimization; Robots; Robustness; State feedback; Uncertainty; Minimally invasive surgical robot; robust control; stabilization; uncertain parameters;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on

Type

conf

DOI

10.1109/ROBIO.2014.7090750

Filename

7090750