Hao, J, Zhang, K, Zhang, Z orcid.org/0000-0003-0204-3867 et al. (2 more authors) (2023) An Online Model-Free Adaptive Tracking Controller for Cable-Driven Medical Continuum Manipulators. IEEE Transactions on Medical Robotics and Bionics, 5 (3). pp. 623-635. ISSN 2576-3202
Abstract
Continuum manipulators have demonstrated promising potential for flexible access and complicated operation and thus have been emerging and introduced in robot-assisted flexible endoscopy. However, due to their inherent structural compliance and strong nonlinearities, developing an accurate and robust control framework remains challenging. This paper proposes a model-free control method based on the Model-Free Adaptive Control (MFAC) algorithm to accomplish the trajectory tracking for two kinds of continuum manipulators by solely utilizing the robotic system’s real-time input/output data. The presented controller discretizes and dynamically linearizes the motion process of the continuum actuator to obtain a dynamic linearization data (DLD) model. This DLD model can be derived from a pseudo-partial derivative (PPD) matrix updated based on the I/O measurement data for the iterative operation. The stability of the presented MFAC controller can be mathematically guaranteed in theory to provide generality, and the control framework demonstrates a low computational cost and real-time control capability. The superior performance of the presented controller is firstly validated in MATLAB simulations and then compared with the other two controllers. Through experimental validation on two kinds of continuum manipulators, the model-free control framework shows high tracking accuracy and good robustness against the system uncertainty and external disturbances, as well as high transferability.
Metadata
Item Type: | Article |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Continuum robots, model-free control, flexible endoscopy, minimally invasive surgery |
Dates: |
|
Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number Royal Society IEC\NSFC\211360 |
Depositing User: | Symplectic Publications |
Date Deposited: | 05 Jul 2023 10:13 |
Last Modified: | 23 May 2024 15:37 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/tmrb.2023.3291024 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:201214 |