TY - GEN
T1 - Ultrafine manipulation considering input saturation using proxy-based sliding mode control
AU - Nishi, Fumito
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - Medical technology and bioengineering have achieved great progress recently. The main reasons are the technique and manipulation system in order to operate the cell directly, but the operational force can not be fedback to the operators. Macro-micro bilateral control is the method for force transmission between operator and target object. However, in macro-micro bilateral control, the reference values to the actuator often become too large due to the controller with high gain and scaling factor. Then, the wind-up phenomenon happens due to the actuator-force saturation and undesired and dangerous behavior might occur. To solve this problem, this paper proposes macro-micro bilateral control using the proxy-based sliding mode control. Proxy-based sliding mode control is the method that simple sliding mode control and PID or PD are combined. PSMC is one of the anti-windup method because the saturation function is equivalently considered in the control algorithm. The force saturation can be avoided by using PSMC. The validity of the proposed method is verified by the experimental results.
AB - Medical technology and bioengineering have achieved great progress recently. The main reasons are the technique and manipulation system in order to operate the cell directly, but the operational force can not be fedback to the operators. Macro-micro bilateral control is the method for force transmission between operator and target object. However, in macro-micro bilateral control, the reference values to the actuator often become too large due to the controller with high gain and scaling factor. Then, the wind-up phenomenon happens due to the actuator-force saturation and undesired and dangerous behavior might occur. To solve this problem, this paper proposes macro-micro bilateral control using the proxy-based sliding mode control. Proxy-based sliding mode control is the method that simple sliding mode control and PID or PD are combined. PSMC is one of the anti-windup method because the saturation function is equivalently considered in the control algorithm. The force saturation can be avoided by using PSMC. The validity of the proposed method is verified by the experimental results.
UR - http://www.scopus.com/inward/record.url?scp=84929359299&partnerID=8YFLogxK
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U2 - 10.1109/ICMECH.2015.7084035
DO - 10.1109/ICMECH.2015.7084035
M3 - Conference contribution
AN - SCOPUS:84929359299
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 547
EP - 552
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -