Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery

Sachan, Shailu; Swarnkar, Pankaj; Nema, Savita

doi:10.35940/ijrte.b1078.078219

Cited by 6 publications

(14 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…CSMC [6,10] is a non-linear controller applicable to nonlinear MIMO (Multiple-Input-Multiple-Output) systems. It deals with the uncertain systems and withstands external disturbances [8,9].…”

Section: Csmc (Conventional Sliding Mode Controller)mentioning

confidence: 99%

“…SMC is an efficient robust nonlinear control because of its invariance property towards the system. It deals with the design of the controller to handle uncertainties to achieve robust performance and stability under various assumptions to track the system's time varying trajectory [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

“…SMC offers robustness and satisfactory monitoring efficiency to disturbances [7,8]. However, it has many drawbacks: optimum sliding surface selection is intricate; sensitive to noise; chattering causes saturation and heating in the different mechanical parts of a surgical robot; composite non-linear dynamics [6,9,10]. Even if the PID (Proportional Integral Derivative) controllers have low tracking performance, they offer better reliability and stability than the SMC controller.…”

Section: Introductionmentioning

confidence: 99%

“…Because of increased number of gain parameters, FOPID controllers [11,12] are superior to PID controllers, improving efficiency and flexibility. The coupling of FOPID and SMC would consequently be helpful in increasing the efficiency and robustness of the system [6,13].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Intelligent Fractional Order Sliding Mode Based Control for Surgical Robot Manipulator

Sachan

Swarnkar

2023

Electronics

View full text Add to dashboard Cite

In the era of digital OT (Operating Theatre), the developments in Robot-Assisted Surgery (RAS) can greatly benefit the medical field. RAS is a method of technological advancement that uses surgical robots to assist complicated surgeries. Its implementation improves the ability of the specialised doctors to perform surgery to a great extent. This paper addresses the dynamics and control of the highly non-linear 3DOF surgical robot manipulator in the occurrence of external disturbances and uncertainties. The integration of non-linear robust SMC (Sliding Mode Control) with smoothing mechanism, FOPID (Fractional-Order Proportional Integral Derivative) controller and fuzzy controller provides a high degree of robustness and minimal chatter. The addition of type-2 fuzzy logic to the controller, named intelligent T2F-SFOSMC (Type-2 Fuzzy-Smoothing Fractional Order Sliding Mode Controller), improves the system’s performance by ruling out the disturbances and uncertainties. The prototype model is developed in a laboratory and its outcomes are validated on OP5600: a real-time digital simulator. The simulation results and experimental results of the proposed T2F-SFOSMC are compared with conventional controllers, which illustrates the efficacy and superiority of the proposed controller’s performance during the typical situation of surgery. The proposed T2F-SFOSMC outperforms conventional controllers by providing greater precision, stability and robustness to time-varying nonlinear multi-incision trajectory.

show abstract

Section: Csmc (Conventional Sliding Mode Controller)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Intelligent Fractional Order Sliding Mode Based Control for Surgical Robot Manipulator

Sachan

Swarnkar

2023

Electronics

View full text Add to dashboard Cite

show abstract

“…The PID controller needs more time than the SMC controller to move the arm into the appropriate position. The FOPID-SMC smoothing method was tested by [19] in comparison to the traditional SMC control method. Control scheme reduced conventional control overshoot to 1.139% using FOPID-SMC for joints and links.…”

Section: Literature Reviewmentioning

confidence: 99%

Simplified Exponential Reaching Law Based Sliding Mode Control of Two-Link Planar Robot

Nazif,

Mohammed,

Hassan

et al. 2023

Nigerian Journal of Tropical Engineering

View full text Add to dashboard Cite

Robotics has gained attention for its ability to perform industrial tasks like welding, machining, position con- trol, and other essential medical operations. Controllers are continuously being improved in design for simplicity, robustness, and performance accuracy. High-accuracy trajectory tracking is a challenging area in robot control due to nonlinearities and input couplings. To achieve high accuracy and precision, robots need accurate, and fast- processing controllers. This research focuses on applying the exponential reaching law (ERL) to control a two-link planar robot. The Euler-Lagrange approach was used for dynamic modeling, and the MATLAB/Simulink toolbox was used for the simulation. The result was obtained in terms of RMS error for the links, with and without the fric- tional disturbance, in the case of the proportional and derivative (PD) controller, reaching law based sliding mode controller (RSMC), and the simplified exponential reaching law based sliding mode controller (SSMC). RMSE with disturbance for SSMC (0.0753 rad, 0.0817 rad for link 1 and link 2 respectively), RSMC (0.0828 rad, 0.0852 rad) and PD (0.2784 rad, 0.1062 rad), and RMSE values without disturbance for SSMC (0.0743rad, 0.0811rad for link 1 and link 2 respectively), RSMC (0.0752 rad, 0.0815 rad) and PD (0.2579 rad, 0.1021 rad). Based on the result obtained, SSMC was found to be more accurate and robust as a result of having the minimum tracking error minimum change in RMSE respectively, as compared to the other controllers. It is evident that SSMC control scheme has proven to have an improved performance with simplicity and robustness.

show abstract

Review on Conventional and Advanced Sliding Mode Control Schemes for Uncertain Dynamic System

Sachan

Swarnkar

2021

Springer Proceedings in Energy

View full text Add to dashboard Cite

Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery

Cited by 6 publications

References 10 publications

Intelligent Fractional Order Sliding Mode Based Control for Surgical Robot Manipulator

Intelligent Fractional Order Sliding Mode Based Control for Surgical Robot Manipulator

Simplified Exponential Reaching Law Based Sliding Mode Control of Two-Link Planar Robot

Review on Conventional and Advanced Sliding Mode Control Schemes for Uncertain Dynamic System

Contact Info

Product

Resources

About