Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus Surgery
Continuum robots represent a class of highly sensitive, multiple-degrees-of-freedom robots that are biologically inspired. Because of their flexibility and accuracy, these robots can be used in maxillary sinus surgery. The design of an effective procedure with high accuracy, reliability, robust faul...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-06-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/9/12/2490 |
| _version_ | 1828497973491793920 |
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| author | Farzin Piltan Cheol-Hong Kim Jong-Myon Kim |
| author_facet | Farzin Piltan Cheol-Hong Kim Jong-Myon Kim |
| author_sort | Farzin Piltan |
| collection | DOAJ |
| description | Continuum robots represent a class of highly sensitive, multiple-degrees-of-freedom robots that are biologically inspired. Because of their flexibility and accuracy, these robots can be used in maxillary sinus surgery. The design of an effective procedure with high accuracy, reliability, robust fault diagnosis, and fault-tolerant control for a surgical robot for the sinus is necessary to maintain the high performance and safety necessary for surgery on the maxillary sinus. Thus, a robust adaptive hybrid observation method using an adaptive, fuzzy auto regressive with exogenous input (ARX) Laguerre Takagi−Sugeno (T−S) fuzzy robust feedback linearization observer for a surgical robot is presented. To address the issues of system modeling, the fuzzy ARX-Laguerre technique is represented. In addition, a T−S fuzzy robust feedback linearization observer is applied to a fuzzy ARX-Laguerre to improve the accuracy of fault estimation, reliability, and robustness for the surgical robot in the presence of uncertainties. For fault-tolerant control in the presence of uncertainties and unknown conditions, an adaptive fuzzy observation-based feedback linearization technique is presented. The effectiveness of the proposed algorithm is tested with simulations. Experimental results show that the proposed method reduces the average position error from 35 mm to 2.45 mm in the presence of faults. |
| first_indexed | 2024-12-11T12:58:32Z |
| format | Article |
| id | doaj.art-7ade994fc94a43afaeb578d069b003fe |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-11T12:58:32Z |
| publishDate | 2019-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-7ade994fc94a43afaeb578d069b003fe2022-12-22T01:06:32ZengMDPI AGApplied Sciences2076-34172019-06-01912249010.3390/app9122490app9122490Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus SurgeryFarzin Piltan0Cheol-Hong Kim1Jong-Myon Kim2Department of Electrical, Electronics and Computer Engineering, University of Ulsan, Ulsan 44610, KoreaSchool of Electronics and Computer Engineering, Chonnam National University, Gwangju 61186, KoreaSchool of IT Convergence, University of Ulsan, Ulsan 44610, KoreaContinuum robots represent a class of highly sensitive, multiple-degrees-of-freedom robots that are biologically inspired. Because of their flexibility and accuracy, these robots can be used in maxillary sinus surgery. The design of an effective procedure with high accuracy, reliability, robust fault diagnosis, and fault-tolerant control for a surgical robot for the sinus is necessary to maintain the high performance and safety necessary for surgery on the maxillary sinus. Thus, a robust adaptive hybrid observation method using an adaptive, fuzzy auto regressive with exogenous input (ARX) Laguerre Takagi−Sugeno (T−S) fuzzy robust feedback linearization observer for a surgical robot is presented. To address the issues of system modeling, the fuzzy ARX-Laguerre technique is represented. In addition, a T−S fuzzy robust feedback linearization observer is applied to a fuzzy ARX-Laguerre to improve the accuracy of fault estimation, reliability, and robustness for the surgical robot in the presence of uncertainties. For fault-tolerant control in the presence of uncertainties and unknown conditions, an adaptive fuzzy observation-based feedback linearization technique is presented. The effectiveness of the proposed algorithm is tested with simulations. Experimental results show that the proposed method reduces the average position error from 35 mm to 2.45 mm in the presence of faults.https://www.mdpi.com/2076-3417/9/12/2490continuum robot manipulatormaxillary sinus surgeryT–S fuzzy algorithmvariable structure algorithmobservation techniquefuzzy ARX–Laguerre system modelingfeedback linearization observeradaptive techniquefault diagnosisfault-tolerant control |
| spellingShingle | Farzin Piltan Cheol-Hong Kim Jong-Myon Kim Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus Surgery Applied Sciences continuum robot manipulator maxillary sinus surgery T–S fuzzy algorithm variable structure algorithm observation technique fuzzy ARX–Laguerre system modeling feedback linearization observer adaptive technique fault diagnosis fault-tolerant control |
| title | Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus Surgery |
| title_full | Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus Surgery |
| title_fullStr | Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus Surgery |
| title_full_unstemmed | Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus Surgery |
| title_short | Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus Surgery |
| title_sort | adaptive fuzzy based fault tolerant control of a continuum robotic system for maxillary sinus surgery |
| topic | continuum robot manipulator maxillary sinus surgery T–S fuzzy algorithm variable structure algorithm observation technique fuzzy ARX–Laguerre system modeling feedback linearization observer adaptive technique fault diagnosis fault-tolerant control |
| url | https://www.mdpi.com/2076-3417/9/12/2490 |
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