TY - GEN
T1 - Adaptive Fuzzy Sliding Mode Controller for Robot-Assisted Laminectomy
AU - Zhu, Xiaolong
AU - Tian, Huanyu
AU - He, Rui
AU - Li, Changsheng
AU - Fan, Mingxing
AU - Duan, Xingguang
AU - Tian, Wei
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Robot-assisted laminectomy is a safe and efficient technique that is gradually being used in clinical practice. However, due to external disturbances and various uncertainties, it can be challenging for robots to precisely track the desired operation trajectories or real-time instructions. In this paper, an adaptive fuzzy sliding mode controller (AFSMC) was present for robot-assisted laminectomy, which incorporates sliding mode control (SMC), fuzzy control (FC), and adaptive law. The controller utilizes FC to replace the sign function and adaptively tunes the normalization factor to further improve control performance. By analyzing the Lyapunov stability theorem, the stability of the controller is ensured. Simulation is conducted on a 2-link robot to assess the performance of the controller. Joints 1 and 2 exhibit maximum tracking errors of 0.0217 rad and 0.0235 rad, respectively. Compared to PID and conventional SMC, the proposed controller exhibits remarkable robustness against uncertainties and disturbances, while effectively eliminating chattering.
AB - Robot-assisted laminectomy is a safe and efficient technique that is gradually being used in clinical practice. However, due to external disturbances and various uncertainties, it can be challenging for robots to precisely track the desired operation trajectories or real-time instructions. In this paper, an adaptive fuzzy sliding mode controller (AFSMC) was present for robot-assisted laminectomy, which incorporates sliding mode control (SMC), fuzzy control (FC), and adaptive law. The controller utilizes FC to replace the sign function and adaptively tunes the normalization factor to further improve control performance. By analyzing the Lyapunov stability theorem, the stability of the controller is ensured. Simulation is conducted on a 2-link robot to assess the performance of the controller. Joints 1 and 2 exhibit maximum tracking errors of 0.0217 rad and 0.0235 rad, respectively. Compared to PID and conventional SMC, the proposed controller exhibits remarkable robustness against uncertainties and disturbances, while effectively eliminating chattering.
UR - http://www.scopus.com/inward/record.url?scp=85171536566&partnerID=8YFLogxK
U2 - 10.1109/ICARM58088.2023.10218908
DO - 10.1109/ICARM58088.2023.10218908
M3 - Conference contribution
AN - SCOPUS:85171536566
T3 - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
SP - 233
EP - 238
BT - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
Y2 - 8 July 2023 through 10 July 2023
ER -