Discrete-Time Integral Sliding Mode Control Of A Smart Joint For Minimally Invasive Surgeries
| Autor: | Ozkan Bebek, Ali Vahid Yeganeh, Saher Jabeen, Gorkem Muttalip Simsek, Guney Guven Yapici, Khalid Abidi |
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| Přispěvatelé: | Özyeğin University, Yapıcı, Güney Güven, Bebek, Özkan, Jabeen, S., Yeganeh, A. V., Simsek, G. M. |
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Response Frequency business.industry Bandwidth (signal processing) 02 engineering and technology SMA Integral sliding mode Tracking error 03 medical and health sciences Nonlinear system 020901 industrial engineering & automation 0302 clinical medicine Discrete time and continuous time Control theory 030223 otorhinolaryngology Actuator business |
| Zdroj: | BioRob |
| Popis: | Due to copyright restrictions, the access to the full text of this article is only available via subscription. In this work, a shape memory alloy(SMA) actuator based joint (smart joint) is controlled using a discrete-time integral sliding mode (DISM) control to guide the motion of an active catheter. Controller is designed on the base of a simplified physical model of a single SMA actuator which eliminates the necessity of obtaining an accurate model. SMAs are nonlinear actuators and for this reason, a disturbance observer (DOB) is integrated in to the controller to compensate the model uncertainties and external disturbances to the system. A linearized model is used to design the controller. Bandwidth of SMA actuator is small (response frequency is less than 0.1Hz) and hardware communication frequency is 20Hz. Due to high sampling time (τ= 50ms) it is idealized to design a discrete-time controller, as switching frequency of the controller variable is then limited by τ-1. An experimental setup is designed to test the proposed controller with position feedback. In experimental results, DISM controller with DOB is shown to be robust against system model uncertainties and external disturbances. Different frequency responses are compared and it is shown that the response of 0.04 Hz can be achieved with rms tracking error of 0.0112 radians. TÜBİTAK |
| Databáze: | OpenAIRE |
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