Year: 2024
Type: article
Abstract: This article investigates the model-based control in configurations space of a soft continuum manipulator for minimally invasive surgery. The main control challenges for these types of systems are the presence of model uncertainties and nonlinearities. To this end, a sliding-mode controller, a Lyapunov redesign controller, and an adaptive controller have been designed and compared by means of simulations and experiments on a prototype. The results indicate that the adaptive controller yields better accuracy but a slower transient. Conversely, the sliding-mode controller and Lyapunov redesign yield a faster response but can result in chattering or steady-state errors.
Source: Robotics
Authors: Liujia Wang, Kaiwen Chen, Enrico Franco
Institution: Imperial College London
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,046
OpenAlex ID: W4404124625