کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5007092 1461557 2017 16 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Position control of a pneumatic surgical robot using PSO based 2-DOF H∞ loop shaping structured controller
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Position control of a pneumatic surgical robot using PSO based 2-DOF H∞ loop shaping structured controller
چکیده انگلیسی
This research proposed novel development of a 2-DOF H∞ loop shaping structured controller based on Particle Swarm Optimization (PSO) that considers the closed-loop dynamic response, robustness, stability, and minimal control input in design criteria to control position of 3-DOF pneumatic surgical robot. Unlike other conventional H∞ controllers, the proposed controller offers robustness, high performance, but cost-effective simple structure, which has recently received attention from several researchers and preferred in industrial applications. The proposed technique is simulated and experimented on a nonlinear system of a pneumatic 3-DOF surgical robot for a Minimally Invasive Surgery (MIS). Mechanical design, dynamics modeling, and system identification of the surgical robot are conducted. The simulation results verify that the proposed controller can gain a better H∞ sub-optimal solution than the conventional 2-DOF H∞ loop shaping controller. Also, the experiments confirm that the proposed controller is capable to tolerate the perturbed conditions and can be alternative to the conventional controllers in pneumatic controlled system
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 43, May 2017, Pages 40-55
نویسندگان
, ,