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Performance enhancement of an uncertain nonlinear medical robot with optimal nonlinear robust controller

Azizi, S ; Sharif University of Technology | 2022

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  1. Type of Document: Article
  2. DOI: 10.1016/j.compbiomed.2022.105567
  3. Publisher: Elsevier Ltd , 2022
  4. Abstract:
  5. So the design and control of an accurate robot for this purpose is very critical for saving the patients. Modification of the model and designing two optimized nonlinear robust controllers for the first time for the parallel manipulator medical robot and cardiopulmonary resuscitation. The main objective of the current study in order to decrease the overshoot and increase the accuracy of the position and convergence speed and robustness to destructive factors affecting the precision of the robot. In this paper firstly, the kinematics and dynamics analysis of a translational parallel manipulator robot is presented and a non-linear model in the presence of uncertainties, disturbances, and noises has been extracted to decrease the difference between the practical results and simulation results. Then, an ONSTSMC awaiting the uncertainty band is designed in order to eliminate the singularity problem and increase the accuracy and robustness to destructive factors, along with a proved stability based on the Lyapunov theory. Finally, the results of applying this robust controller to the robot are compared with the results of a non-singular terminal sliding mode controller without considering the uncertainty band, a conventional sliding mode controller, and a PID controller for the same model, which indicates the better accuracy, and higher convergence speed of the proposed controller as much as 0.21 mm and 0.7 s, respectively compared to PID and 0.17 mm and 0.4 s compared to the conventional sliding mode controller in the presence of external and internal destructive factors. © 2022 Elsevier Ltd
  6. Keywords:
  7. Optimization ; Controllers ; Machine design ; Manipulators ; Robots ; Robustness (control systems) ; Sliding mode control ; Three term control systems ; Uncertainty analysis ; 'Current ; Convergence speed ; Design and control ; Medical robots ; Optimisations ; Parallel manipulators ; Performance enhancements ; Robust controllers ; Sliding mode controller ; Robust control ; Algorithm ; Controlled study ; Evolutionary algorithm ; Feedback system ; Genetic algorithm ; Human ; Intermethod comparison ; Kinematics ; Molecular dynamics ; Multiobjective optimization ; Process optimization ; Resuscitation ; Statistical model ; Work environment ; Nonlinear system ; Procedures ; Algorithms ; Computer Simulation ; Humans ; Nonlinear Dynamics ; Robotics ; Uncertainty
  8. Source: Computers in Biology and Medicine ; Volume 146 , 2022 ; 00104825 (ISSN)
  9. URL: https://www.sciencedirect.com/science/article/abs/pii/S0010482522003596