Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery

摘要

Robotic-assisted surgery (RAS) is a mode of technical advancement in the medical field that utilizes robotic articulation to aid surgeries. The fine-motion and precise control of robotic manipulator is prerequisite in surgical applications. In this paper, the improved control methodology for controlling the 3DOF (degree of freedom) robotic manipulator’s motion named as smoothing fractional order proportional integral derivative-sliding mode control (FOPID-SMC) for the attainment of finest results by eliminating the perturbations has been showcased. The performance of smoothing FOPID-SMC controller in robotic manipulator is compared with the conventional SMC controllers. The simulation results prominently illustrate the efficacy of the proposed methodology, and superior tracking and robust performance with alleviated chattering compared to the classical methodologies.