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Alternative TitleAdaptive Fuzzy PID Controller of Robotic Catheter System in Minimally Invasive Surgery
赵希梅; 游健康; 刘浩; 李洪谊
Source Publication机床与液压
Contribution Rank2
Funding Organization国家自然科学基金资助项目(51175349) ; 国家自然青年科学基金资助项目(61105099) ; 辽宁省教育厅科学技术研究项目(L2013060)
Keyword主从导管机器人 动力学模型 Pid控制 自适应模糊pid控制
Other AbstractAimed at such problems in manual invasive surgery as low accuracy of catheterization,X-ray radiation which impaired body of doctors,the drawbacks can be very well solved by using a master-slave robotic catheter system to perform minimally invasive surgery. Generally,proportion integration and differential ( PID) control was adopted in a master-slave robotic catheter system,but PID control might produce a larger overshoot which caused deterioration of tracking performance of system,and decreased safety of operation. So,adaptive fuzzy PID controller which adjusted on line parameters of PID control was used to improve tracking performance of master-slave control system. Firstly,the dynamic models of axial motion and rotation motion of slave side were established,then master- slave robotic catheter system was designed based on adaptive fuzzy PID controller. Tracking performance of slave side for master side signals was improved by adjusting the parameters online. The simulation results show that proposed adaptive fuzzy PID control scheme is effective and feasible,and system has quite strong tracking and robust performance,and tracking error of the system is decreased significantly.
Document Type期刊论文
Recommended Citation
GB/T 7714
赵希梅,游健康,刘浩,等. 微创介入手术导管机器人系统自适应模糊PID控制[J]. 机床与液压,2015,43(9):9-12.
APA 赵希梅,游健康,刘浩,&李洪谊.(2015).微创介入手术导管机器人系统自适应模糊PID控制.机床与液压,43(9),9-12.
MLA 赵希梅,et al."微创介入手术导管机器人系统自适应模糊PID控制".机床与液压 43.9(2015):9-12.
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