An Online Model-Free Adaptive Tracking Controller for Cable-Driven Medical Continuum Manipulators

Hao, Jianxiong; Zhang, Kai; Zhang, Zhiqiang; Wang, Shuxin; Shi, Chaoyang

doi:10.1109/tmrb.2023.3291024

Cited by 5 publications

(1 citation statement)

References 34 publications

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“…Based on our previous work [ 46 ], the infinitesimal distal tip displacement of a continuum manipulator is related to its infinitesimal driving tendon displacement Δ q , as shown in Eq. 3 :

where J ∈ ℝ 2×2 denotes the Jacobian matrix of the continuum manipulator’s kinematics model.…”

Section: Methodsmentioning

confidence: 99%

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control

Duan,

Zhang,

Qian

et al. 2024

Cyborg Bionic Syst

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Continuum manipulators can conform to curvilinear paths and manipulate objects in complex environments, which makes it emerging to be applied in minimally invasive surgery (MIS). However, different and controllable operating stiffness of the continuum manipulator is required during different stages of surgery to achieve safe access or stable and precise operation. This work proposes an operating stiffness controller (OSC) for the typical tendon-driven continuum manipulator based on the variable impedance control method with Lagrangian dynamic modeling. This controller can adjust the operating stiffness by modifying the driving forces along the driving tendons of the continuum manipulator without changing its material or structure. The proposed OSC converts the damping and stiffness matrices of the impedance control into variable parameters. This merit allows it to dynamically adjust the operating stiffness of the continuum manipulator according to the desired constant or time-varying stiffness. Furthermore, the OSC stability can be proven based on a Lyapunov function, and its stiffness control performances have been analyzed and evaluated in both simulations and experiments. The OSC controller generated average relevant error values of 7.82% and 3.09% for the operating stiffness control experiments with constant and time-varying desired stiffness, respectively. These experimental results indicate that the OSC has high accuracy, stability, and strong robustness in the operating stiffness control tasks.

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“…Based on our previous work [ 46 ], the infinitesimal distal tip displacement of a continuum manipulator is related to its infinitesimal driving tendon displacement Δ q , as shown in Eq. 3 :

where J ∈ ℝ 2×2 denotes the Jacobian matrix of the continuum manipulator’s kinematics model.…”

Section: Methodsmentioning

confidence: 99%

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control

Duan,

Zhang,

Qian

et al. 2024

Cyborg Bionic Syst

Self Cite

View full text Add to dashboard Cite

show abstract

Pseudo-partial-derivative information-driven adaptive fault-tolerant tracking control for discrete-time systems

Wang,

Du,

2023

Complex Intell. Syst.

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The fault-tolerant tracking control problem is studied for the discrete-time systems with actuator faults. To lessen adverse impacts of actuator fault, a PPD information-driven fault estimation algorithm is established to adaptively estimate actuator fault information online, which avoids the additional construction and training process of neural network. With the aid of the adaptive fault compensation, a model-free adaptive fault-tolerant tracking control algorithm is constructed to ensure that the expected output reference trajectory can be tracked by system output. Moreover, only input and output data are employed throughout the design process, system dynamics are not demanded. Ultimately, the availability of developed strategy is proved through a simulation.

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Compliant variable admittance adaptive fixed-time sliding mode control for trajectory tracking of robotic manipulators

Gao,

Ma,

Zhang

et al. 2024

Robotica

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This paper presents a compliant variable admittance adaptive fixed-time sliding mode control (SMC) algorithm for trajectory tracking of robotic manipulators. Specifically, a compliant variable admittance algorithm and an adaptive fixed-time SMC algorithm are combined to construct a double-loop control structure. In the outer loop, the variable admittance algorithm is developed to adjust admittance parameters during a collision to minimize the collision time, which gives the robot compliance property and reduce the rigid collision influence. Then, by employing the Lyapunov theory and the fixed-time stability theory, a new nonsingular sliding mode manifold is proposed and an adaptive fixed-time SMC algorithm is presented in the inner loop. More precisely, this approach enables rapid convergence, enhanced steady-state tracking precision, and a settling time that is independent of system initial states. As a result, the effectiveness and improved performance of the proposed algorithm are demonstrated through extensive simulations and experimental results.

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An Online Model-Free Adaptive Tracking Controller for Cable-Driven Medical Continuum Manipulators

Cited by 5 publications

References 34 publications

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control

Pseudo-partial-derivative information-driven adaptive fault-tolerant tracking control for discrete-time systems

Compliant variable admittance adaptive fixed-time sliding mode control for trajectory tracking of robotic manipulators

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