Abstract
This paper presents a disturbance observer-based nonsingular terminal sliding mode control design for a myringotomy surgical device. The methodology is established to control a semi-automated hand-held ear surgical device for the treatment of otitis media with effusion. Otitis media with effusion is the collection of bacterial fluid in the middle ear space which can potentially lead to hearing loss and chronic infections. A finite-time terminal sliding surface is proposed and a nonsingular terminal sliding control is constructed. The control approach fulfils precise tracking of the desired motion trajectory in the presence of disturbances, nonlinearities and uncertainties. The stability of the control approach is analyzed. In addition, the tracking control of the myringotomy surgical device is proven mathematically and the simulation results confirm the applicability and efficiency of the proposed approach and a precise tracking performance following desired motion trajectory is demonstrated in the simulations.
Highlights
In the last decades, the field of robotic surgery has seen drastic technological advancements [1]–[6]
The coefficients of disturbance observer for the fast Terminal Sliding Mode Control (TSMC) are considered as k = 2, ε = 0.5, q0 = 3 and p0 = 1
Coefficients and parameters for fast TSMC and its manifold are chosen as α1 = 10, β1 = 0.5, p1 = 5, q1 = 7, p2 = 1, q2 = 3, xd = 2 sin(0.2t), β = 3, γ = 5 and μ = 0.5
Summary
The field of robotic surgery has seen drastic technological advancements [1]–[6]. In [24], a disturbance observer-based sliding mode controller is designed for master and slave robots to achieve position tracking performance. VOLUME 9, 2021 to implement, and the adaptive sliding mode controller can effectively deal with the uncertainties, un-modelled dynamics and disturbances, the tracking performance results of the whole structure was not shown. The combination of adaptive and sliding-mode control decreases the chattering phenomenon and the presence of DOB improves system identification and yields the desired tracking performance without hysteresis phenomena. The proposed methodology fulfils the finite-time convergence without chattering phenomenon, fast motion tracking and eliminates the singularity problem in the presence of uncertainty and nonlinearity for the myringotomy surgical device.
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