Force feedback control for variable parameter vascular interventional surgery robot based on terminal sliding mode

SUN Haoyue; HU Zhi

doi:10.12299/jsues.23-0082

Volume 38 Issue 1

Feb. 2024

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SUN Haoyue, HU Zhi. Force feedback control for variable parameter vascular interventional surgery robot based on terminal sliding mode[J]. Journal of Shanghai University of Engineering Science, 2024, 38(1): 63-69. doi: 10.12299/jsues.23-0082

Citation:

SUN Haoyue, HU Zhi. Force feedback control for variable parameter vascular interventional surgery robot based on terminal sliding mode[J]. Journal of Shanghai University of Engineering Science, 2024, 38(1): 63-69. doi: 10.12299/jsues.23-0082

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Force feedback control for variable parameter vascular interventional surgery robot based on terminal sliding mode

doi: 10.12299/jsues.23-0082

SUN Haoyue,
HU Zhi^,

School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2023-04-05
Publish Date: 2024-03-30

Abstract

Abstract

Aiming at the problem of variable parameters and external disturbance in force feedback control system of master-slave vascular interventional surgery robot, a terminal sliding mode control method with continuous function characteristics was proposed. The parameters and changes of the force feedback control system of vascular interventional surgery were analyzed based on the calculation and force measurement methods. Then, a terminal sliding mode controller with continuous characteristic function was designed based on the terminal sliding mode control method, and the stability of the controller was proved by using the Lyapunov stability analysis method. Finally, simulation verification was carried out. It shows that from the two perspectives of tracking effect and controller output, the improved terminal sliding mode control method can not only effectively suppress chattering, but also improve the tracking accuracy of the signal, which proves that the strategy has important application value in improving the robustness and the control accuracy of variable parameter system.
- master-slave interventional surgery,
- variable parameters,
- terminal sliding mode

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References(10)

References

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