Robust H∞ control of a tendon–driven elastic continuum mechanism via a systematic description of nonlinearities

Shu, Anton Leonhard; Deutschmann, Bastian; Dietrich, Alexander; Ott, Christian; Albu‐Schäffer, Alin

doi:10.1016/j.ifacol.2018.11.572

Cited by 4 publications

(1 citation statement)

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“…37 In Bataleblu et al, 38 a robust H 1 controller was simulated in the presence of modeling uncertainty and actuator saturation without implementation results. Decentralized robust control for teleoperated needle insertion is reported in Agand et al 39 A parametric robust approach PID control for a laparoscopic surgery robot is designed in Bolea 40 and robust H 1 control of a tendon-driven elastic continuum mechanism is reported in Shu et al 41 Furthermore, H 1 -based control of a quadrotor attitude is presented in Noormohammadi Asl et al 42 The main contribution of this paper is the design and implementation of a robust H 1 -based controller for the 2RT spherical parallel manipulator in hand in the presence of unstructured uncertainties and external disturbances. Hence, in the controller synthesis, the control design objective is robust stability assurance in the presence of uncertainty and disturbance in addition to suitable trajectory tracking performance.…”

Section: Introductionmentioning

confidence: 99%

Robust H∞-based control of ARAS-diamond: A vitrectomy eye surgery robot

Bataleblu

Khorrambakht

Taghirad

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, we investigate the challenges of controlling the ARAS-Diamond robot for robotic-assisted eye surgery. To eliminate the system’s inherent uncertainty effects on its performance, a cascade architecture control structure is proposed in this paper. For the inner loop of this structure, two different robust controls, namely, [Formula: see text] and μ-synthesis, with stability and performance analysis, are synthesized. The outer loop of the structure, on the other hand, controls the orientation of the surgical instrument using a well-tuned PD controller. The stability of the system as a whole, considering both inner and outer loop controllers, is analyzed in detail. Furthermore, implementation results on the real robot are presented to illustrate the effectiveness of the proposed control structure compared to that of conventional controller designs in the presence of inherent uncertainties of the system and external disturbances, and it is observed that using [Formula: see text] controller in the inner loop has superior robust performance.

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