Modeling and control aspects of long distance telesurgical applications

Haidegger, Tamás; Kovács, Levente; Preitl, Ștefan; Precup, Radu‐Emil; Kovacs, Adalbert; Benyó, Balázs; Benyó, Zoltán

doi:10.1109/icccyb.2010.5491301

Cited by 24 publications

(35 citation statements)

References 21 publications

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“…It can be proven that mathematically correct stability analysis can be achieved when LMI-based control design is taken into consideration. In the particular case of this study, the derived model would be utilized on the slave side of the teleoperation system, integrated in a cascade controller assembly [3]. This cascade structure supports the realization of force control in extreme scenarios, such as intercontinental or inter-planetary teleoperation [4].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear soft tissue mechanics based on polytopic Tensor Product modeling

Takács

Haidegger

Galambos

et al. 2016

2016 IEEE 14th International Symposium on Applied Machine Intelligence and Informatics (SAMI)

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Section: Introductionmentioning

confidence: 99%

Nonlinear soft tissue mechanics based on polytopic Tensor Product modeling

Takács

Haidegger

Galambos

et al. 2016

2016 IEEE 14th International Symposium on Applied Machine Intelligence and Informatics (SAMI)

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“…PI and PID controllers tuned by the ESO method and predictive controllers are considered. There are no simulation results in [45] and [46].…”

Section: Controllers For Teleoperation Systemsmentioning

confidence: 99%

“…The same models as those used in [45] are presented in [46], but there is no tissue model. PI and PID controllers tuned by the ESO method and predictive controllers are considered.…”

Section: Controllers For Teleoperation Systemsmentioning

confidence: 99%

“…The process models described in [46] are used in [44] as well. The time delays re handled in several ways using: empirical Ziegler-Nichols method (tested by simulation results), the ESO method (tested by simulation results), and PID-fuzzy controllers for both the inner and outer loops of the cascade control system structure (without simulation results).…”

Section: Controllers For Teleoperation Systemsmentioning

confidence: 99%

“…The design of controllers for teleoperation systems [14], [15], [44]- [50] is characterized by three unified features. These features will be pointed out as follows, along with details on the control system structures and controllers (algorithms) implemented in previous studies.…”

Section: Controllers For Teleoperation Systemsmentioning

confidence: 99%

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Models for Force Control in Telesurgical Robot Systems

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Neuroadaptive global sliding mode control for nonlinear systems and its application

Chu

Fei

Hou

2023

Intl J Robust & Nonlinear

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One type of adaptive controller on the basis of an original dual-loop recursive fuzzy neural network (DRFNN) with two closed loop structures for a kind of nonlinear dynamic systems is designed in this paper. Though the conventional FNN could approximate arbitrary smooth functions, the inner network parameters need to be set up in advance. Usually, the setting of the base width and central vector are lack of theoretical guidance to some degree and need to be debugged many times. However, the initial values of the center vector and the base width can be arbitrarily set and stable to optimal ones in the light of adaptive mechanism of the proposed dual recursive FNN. Besides, the dynamic dual recursive FNN possesses the ability of storing more beneficial information through constructing signal back loops, meanwhile accuracy of the approximation is higher than the traditional FNN. Furthermore, the learning speed and detection accuracy can be improved due to the fact that expert knowledge is a priori knowledge in the network structure by including if-then rules of this FNN. To validate effectiveness of the developed scheme, simulations and three suits of experiments are carried out on a set of active power filter to demonstrate that this presented global sliding mode control using DRFNN can achieve expected performance. Eventually, some comparisons among FNN and the proposed DRFNN are implemented to suggest the dual recursive FNN can obtain more superior properties.

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Modeling and control aspects of long distance telesurgical applications

Cited by 24 publications

References 21 publications

Nonlinear soft tissue mechanics based on polytopic Tensor Product modeling

Nonlinear soft tissue mechanics based on polytopic Tensor Product modeling

Models for Force Control in Telesurgical Robot Systems

Neuroadaptive global sliding mode control for nonlinear systems and its application

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