T-S Fuzzy-Based Optimal Control for Minimally Invasive Robotic Surgery with Input Saturation
Joint Authors
Zhang, Y.
Wang, Faguang
Wang, Hongmei
Guo, Xijin
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-04-23
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
A minimally invasive surgery robot is difficult to control when actuator saturation exists.
In this paper, a Takagi-Sugeno fuzzy model-based controller is designed for a minimally invasive surgery robot with actuator saturation, which is difficult to control.
The contractively invariant ellipsoid theorem is applied for the actuator saturation.
The proposed scheme can be derived using the H-infinity control theorem and parallel distributed compensation.
The result is rebuilt in the form of linear matrix inequalities for easier calculation by computer.
Meanwhile, the uniformly ultimately bounded stable and the prescribed H-infinity control performance can be guaranteed.
The proposed scheme is simulated in a Novint Falcon haptic device system.
American Psychological Association (APA)
Wang, Faguang& Wang, Hongmei& Zhang, Y.& Guo, Xijin. 2018. T-S Fuzzy-Based Optimal Control for Minimally Invasive Robotic Surgery with Input Saturation. Journal of Sensors،Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1201589
Modern Language Association (MLA)
Wang, Faguang…[et al.]. T-S Fuzzy-Based Optimal Control for Minimally Invasive Robotic Surgery with Input Saturation. Journal of Sensors No. 2018 (2018), pp.1-9.
https://search.emarefa.net/detail/BIM-1201589
American Medical Association (AMA)
Wang, Faguang& Wang, Hongmei& Zhang, Y.& Guo, Xijin. T-S Fuzzy-Based Optimal Control for Minimally Invasive Robotic Surgery with Input Saturation. Journal of Sensors. 2018. Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1201589
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1201589