Abstract
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.
Highlights
In minimally invasive robotic surgery, the work space is limited precisely
The Lyapunov stability criterion-based parallel distributed compensation (PDC) fuzzy controller was designed for the actuator saturation system [23, 24]
The T-S fuzzy control theorem and the ability of contractively invariant ellipsoid were applied for nonlinear systems with input saturation
Summary
In minimally invasive robotic surgery, the work space is limited precisely. The mechanical structure and the electrical characteristics can be additional constraint boundaries for system inputs and outputs. In [18], based on the T-S fuzzy model, a robust dissipative controller was designed for the multiple-input multipleoutput (MIMO) system with saturated time-delay input and parameter uncertainty. Their results show that the closedloop system can be stable, but the stabilization time cannot be guaranteed. The combination of the T-S fuzzy model and optimal control show an animated controller design of a nonlinear system with actuator saturation [21]. Many researchers focused on actuator saturation problems, where the T-S fuzzy based controller design method was popular. The Lyapunov stability criterion-based PDC fuzzy controller was designed for the actuator saturation system [23, 24].
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