Time forward observer based adaptive controller for a teleoperation system

Minh, Vu Trieu; Hashim, Fakhruldin Bin Mohd

doi:10.1007/s12555-011-0306-0

Cited by 3 publications

(2 citation statements)

References 11 publications

(20 reference statements)

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“…For instance, neural networks could predict environment forces in the work by Smith et al 55 and remote robot forces and velocities in the work of Minh and Hashim. 56 Recently, adaptive controllers for general nonlinear teleoperators that adapt to unknown robot dynamics have been developed that satisfy the passivity criteria. 57,58 A similar approach using neural networks to estimate both unknown local interface and remote robot dynamics can preserve the passivity of the system.…”

Section: Advanced Methodsmentioning

confidence: 99%

Introduction to Haptics for Neurosurgeons

2013

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Robots are becoming increasingly relevant to neurosurgeons, extending a neurosurgeon's physical capabilities, improving navigation within the surgical landscape when combined with advanced imaging, and propelling the movement toward minimally invasive surgery. Most surgical robots, however, isolate surgeons from the full range of human senses during a procedure. This forces surgeons to rely on vision alone for guidance through the surgical corridor, which limits the capabilities of the system, requires significant operator training, and increases the surgeon's workload. Incorporating haptics into these systems, ie, enabling the surgeon to "feel" forces experienced by the tool tip of the robot, could render these limitations obsolete by making the robot feel more like an extension of the surgeon's own body. Although the use of haptics in neurosurgical robots is still mostly the domain of research, neurosurgeons who keep abreast of this emerging field will be more prepared to take advantage of it as it becomes more prevalent in operating theaters. Thus, this article serves as an introduction to the field of haptics for neurosurgeons. We not only outline the current and future benefits of haptics but also introduce concepts in the fields of robotic technology and computer control. This knowledge will allow readers to be better aware of limitations in the technology that can affect performance and surgical outcomes, and "knowing the right questions to ask" will be invaluable for surgeons who have purchasing power within their departments.

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Section: Advanced Methodsmentioning

confidence: 99%

Introduction to Haptics for Neurosurgeons

2013

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“…To guarantee the system stability once the state space violates the constraints, Minh V.T and Afzulpurkar [16] have developed a RMPC algorithm for input saturated and softened state constraints using penalty terms added into the objective function. Conditions for stabilizability of linear switched systems and of time-variant uncertainties can be referred to in [20] and [21].…”

Section: Introductionmentioning

confidence: 99%

Tracking setpoint robust model predictive control for input saturated and softened state constraints

Minh

Hashim

2011

Int. J. Control Autom. Syst.

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This paper starts with a brief review of robust model predictive control (RMPC) schemes for uncertain systems using linear matrix inequalities (LMIs) subject to input saturated and softened state constraints. However when RMPC has both input and state constraints, difficulties will arise due to the inability to satisfy the state constraints. In this paper, we develop two new tracking setpoint RMPC schemes with common Lyapunov function and with zero terminal equality subject to input saturated and softened state constraints. A brief comparative simulation of the two new RMPC schemes is implemented via examples to demonstrate the ability of the new RMPC schemes.

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Trajectory Generation for Autonomous Mobile Robots

Minh

2014

Computational Intelligence for Decision Support in Cyber-Physical Systems

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Time forward observer based adaptive controller for a teleoperation system

Cited by 3 publications

References 11 publications

Introduction to Haptics for Neurosurgeons

Introduction to Haptics for Neurosurgeons

Tracking setpoint robust model predictive control for input saturated and softened state constraints

Trajectory Generation for Autonomous Mobile Robots

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