Paper Info
Title
Novel design of a Model Reference Adaptive Controller for soft tissue operations
Abstract
Model Reference Adaptive Controllers (MRAC) have dual functionality: besides guaranteeing precise trajectory tracking of the controlled system, they have to provide an “external control loop” with the illusion that it controls a physical system of prescribed dynamic properties, i.e., the “reference system”. The MRACs are designed traditionally by Lyapunov's 2nd method that is mathematically complicated, requiring strong skills from the designer. Adaptive controllers alternatively designed by the use of Robust Fixed Point Transformations (RFPT) operate according to Banach's Fixed Point Theorem, and are normally simple iterative constructions that also have a standard variant for MRAC design. This controller assumes a single actuator that is driven adaptively. Master-Slave Systems form a distinct class of practical applications, in which two arms-the master and the slave-operate simultaneously. The movement of the master must be tracked precisely by the slave in spite of the quite different forces exerted by them. In the present paper, a soft tissue-cutting operation by a master-slave structure is simulated. The master arm has a simple torque-reference friction model, and is driven by the surgeon. The obtained master arm trajectory has to be precisely tracked by the electric DC motor driven slave system, which is in dynamic interaction with the actual tissue under operation. It is shown via simulations that the RFPT-based design can efficiently solve such tasks without considerable mathematical complexity.
Year
DOI
Venue
2014
10.1109/SMC.2014.6974293
Systems, Man and Cybernetics
Keywords
Field
DocType
Banach spaces,DC motors,Lyapunov methods,adaptive control,biological tissues,control system synthesis,fixed point arithmetic,iterative methods,medical control systems,surgery,trajectory control,Banach fixed point theorem,Lyapunov method,MRAC,RFPT,electric DC motor driven slave system,external control loop,iterative constructions,master-slave systems,model reference adaptive controller design,robust fixed point transformations,soft tissue-cutting operation,torque-reference friction model,trajectory tracking
Lyapunov function,Control theory,Computer science,Physical system,Control theory,DC motor,Control system,Fixed point,Trajectory,Actuator
Conference
ISSN
Citations 
PageRank 
1062-922X
1
0.37
References 
Authors
7
7
Name
Order
Citations
PageRank
József K. Tar110425.33
Levente Kovács2146.44
Arpad Takacs3174.37
Bence Takacs410.71
Peter Zentay510.37
Tamás Haidegger69314.86
Imre J. Rudas738863.89