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Polytopic Model Based Interaction Control for Soft Tissue Manipulation

Takács, Árpád and Kuti, József and Haidegger, Tamás and Galambos, Péter and Rudas, Imre (2016) Polytopic Model Based Interaction Control for Soft Tissue Manipulation. In: 16th IEEE Intl. Conf. on Systems, Man, and Cybernetics (SMC).

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Abstract

Reliable force control is one of the key components of modern robotic teleoperation. The performance of these systems in terms of safety and stability largely depends on the controller design, as it is desired to account for various disturbing conditions, such as uncertainties of the model parameters or latency-induced problems. This work presents a polytopic qLPV model derived from a previously verified nonlinear soft tissue model, along with a model-based force control scheme that involves a tensor product polytopic state feedback controller. The derivation is based on the Tensor Product (TP) Model Transformation. The proposed force control scheme is verified and evaluated through numerical simulations. Index Terms—Soft tissue modeling, telesurgery control, Polytopic model based control, TP Model Transformation, qLPV modeling, LMI-based controller design.

Item Type: Conference or Workshop Item (Paper)
Subjects: Q Science / természettudomány > Q1 Science (General) / természettudomány általában
R Medicine / orvostudomány > RD Surgery / sebészet
Depositing User: Dr. Tamas Haidegger
Date Deposited: 29 Oct 2016 15:11
Last Modified: 29 Oct 2016 15:11
URI: http://real.mtak.hu/id/eprint/42095

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