Robust Dynamic Surface Control of da Vinci Robot Manipulator Considering Uncertainties: A Fuzzy Based Approach

摘要

da Vinci is a robotic platform used to perform surgical tasks. The use of this robotic platform can have a significant effect on the reduction of operation time and improvement of the surgical task outcomes. However, the dynamic model of the da Vinci robot especially the friction model of the prismatic joint is unknown. Therefore, the design of an adaptive torque controller for da Vinci system can be the optimal solution for autonomous control strategies. In this work, we propose a fuzzy dynamic surface controller as a suitable application of the fuzzy method to tune the gain of the dynamic surface as an adaptive and robust controller for the da Vinci robot. The proposed controller is able to observe and eliminate the uncertainties. Lyaponuv method is used to guarantee the stability of the closed loop system. Finally, experiments are conducted to verify the proper performance of the proposed approach. It is worth noting that the experimental results indicate the robustness of the controller against uncertainties of the system.