Discrete-time integral sliding mode control of a smart joint for minimally invasive surgeries

Name: Discrete-time integral sliding mode control of a smart joint for minimally invasive surgeries
Author: Jabeen, Saher, Yeganeh, Ali Vahid, Şimsek, Görkem Muttalip, Yapıcı, Güney Güven, Abidi, K., Bebek, Özkan

İsim	Discrete-time integral sliding mode control of a smart joint for minimally invasive surgeries
Yazar	Jabeen, Saher, Yeganeh, Ali Vahid, Şimsek, Görkem Muttalip, Yapıcı, Güney Güven, Abidi, K., Bebek, Özkan
Basım Tarihi:	2016
Basım Yeri	- IEEE
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	2155-1774
Kayıt Numarası	381830cd-311d-4613-8cc5-c16f895faea8
Lokasyon	Mechanical Engineering
Tarih	2016
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	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.
DOI	10.1109/BIOROB.2016.7523657

Kaynağa git Özyeğin Üniversitesi

Aramaya Dön

Özyeğin Üniversitesi

Kaynağa git

Discrete-time integral sliding mode control of a smart joint for minimally invasive surgeries

Yazar Jabeen, Saher, Yeganeh, Ali Vahid, Şimsek, Görkem Muttalip, Yapıcı, Güney Güven, Abidi, K., Bebek, Özkan

Basım Tarihi 2016

Basım Yeri - IEEE

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 2155-1774

Kayıt Numarası 381830cd-311d-4613-8cc5-c16f895faea8

Lokasyon Mechanical Engineering

Tarih 2016

Notlar Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Örnek Metin 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.

DOI 10.1109/BIOROB.2016.7523657