A fuzzy neural network sliding mode controller for vibration suppression in robotically assisted minimally invasive surgery

Sang, Hongqiang; Yang, Chenghao; Liu, Fen; Yun, Jintian; Jin, Guoguang

doi:10.1002/rcs.1784

Cited by 10 publications

(2 citation statements)

References 30 publications

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“…Equation 8 shows that with the increase in feedback gain H which lower the effective resonance frequency and thus increase the range over which the system tends to isolate motions of the ground from motions of the mass [22][23].…”

Section: The Civil Engineering Journal Y-20zz -----------------------mentioning

confidence: 99%

Design of an Active Low Frequency Vibration Isolation System for Atom Interferometry by Using Sliding Mode Control

Luo¹,

Cheng²,

Wu³

et al. 2017

CEJ

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Active vibration isolation is gaining increased attention in the ultra-high precision application of atom interferometry to effectively treat the unavoidable ground vibration. In this system, a digital control subsystem is used to process and feedback the vibration measured by a seismometer. A voice coil actuator is used to control and cancel the motion of a commercial passive vibration isolation platform. The system level simulation model is established by Simulink software, The simulation results demonstrate the asymptotic stability of the system and the robustness of the control algorithm. Compared with the conventional lead-lag compensation type controller, the algorithm adopted uses sliding mode control, taking advantage of its easy computer implementation and its robust high performance properties. With the feedback path closed, the system acts like a spring system with a natural resonance frequency of 0.02 Hz. The vibration noise in the vertical direction is about 20 times reduced during 0.1 and 2 Hz, The experimental results verify that the isolator has significant vibration isolation performance, and it is very suitable for applications in high precision gravity measurement.

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Section: The Civil Engineering Journal Y-20zz -----------------------mentioning

confidence: 99%

Design of an Active Low Frequency Vibration Isolation System for Atom Interferometry by Using Sliding Mode Control

Luo¹,

Cheng²,

Wu³

et al. 2017

CEJ

View full text Add to dashboard Cite

show abstract

“…Let us also point to vibration that is problematic in surgery robotics where the precise motion is required (Sang et al, 2016) or to an active absorber tuned by a dual loop controller and tested on a helicopter (Chesné et al, 2019). Another case is multiple passive absorbers tuned for primary and secondary mode shapes of wind turbines to suppress the vibration (Zuo et al, 2017) and many other uses.…”

Section: Introductionmentioning

confidence: 99%

Mechatronic robot arm with active vibration absorbers

Kraus

Šika

Beneš

et al. 2020

Journal of Vibration and Control

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Serial robots are typically able to cover large workspace, but their mass/stiffness ratio does not allow combining high accuracy and high dynamic of the end effector operations. Widely spread usage of serial robots, even for tasks such as drilling, leads to high accuracy demands through its workspace. Absolute measurement of the end point for position feedback can be challenging due to objects or even a workpiece in the workspace. Moreover, inbuilt motors of the serial robot cannot response in the frequency range high enough as vibration of the end point. Instead, an additional spring–mass system is attached to the robot to suppress vibrations. The narrow frequency range of a passive dynamic absorber can be extended with active elements between the robot and absorber. An active approach is also necessary because of robots eigenfrequencies and eigenmodes variability. The study deals with a planar flexible robot equipped with a three-degree-of-freedom planar active absorber. The absorber is tuned passively to one value of multiple eigenfrequency. The linear-quadratic regulator control with a state observer has been designed as an active absorber control algorithm. Feedback inputs are absorber body acceleration, end effector acceleration, and relative motions in three absorber actuators realized by voice coils. The end effector vibration suppression along the robot trajectory is achieved using gain scheduling of local controller’s outputs.

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A Novel Fuzzy System With Adaptive Neurons for Earthquake Modeling

Ramírez-Mendoza

2020

IEEE Access

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Data driven fuzzy neural networks have some disadvantages, such as high dimensions and complex learning process. Also, the obtained models are difficult to interpret. In this paper, we propose a novel simple fuzzy system, which uses fuzzy adaptive neurons. This novel model takes the advantages of the interpretability of the fuzzy system and good approximation ability of the neural networks. We propose a simple learning algorithm for the novel fuzzy system. The stability analysis is given. We successfully apply this fuzzy model for the earthquake modeling. Comparisons with the popular fuzzy neural model are proposed.

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A fuzzy neural network sliding mode controller for vibration suppression in robotically assisted minimally invasive surgery

Abstract: The proposed FNNSMC can provide a robust performance and suppress the vibrations at the surgical instrument tip, which can enhance the quality and security of surgical procedures.

Cited by 10 publications

References 30 publications

Design of an Active Low Frequency Vibration Isolation System for Atom Interferometry by Using Sliding Mode Control

Design of an Active Low Frequency Vibration Isolation System for Atom Interferometry by Using Sliding Mode Control

Mechatronic robot arm with active vibration absorbers

A Novel Fuzzy System With Adaptive Neurons for Earthquake Modeling

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