earticle

영어

Robot-assisted MIDCAB and Endoscopic coronary artery bypass (TECAB) operations are being performed with the DaVinci system. In this paper, we propose an adaptive feedback linearization control scheme (AFC) for continuous-time,multiple input-multipleoutput (MIMO) linear time-varying uncertain robotic system. The AFC consists of a fuzzy controller with adaptivemechanism to reconstruct the system states using the trackingerror and to make the state error reach the equilibrium point ina finite time period quickly. The sliding surface is first employedto represent the state error to reach the equilibrium point ina finite time period using adaptive theory. Then, a fuzzy controller usingsliding surface is developed to achieve the feedback linearization control performanceand the state tracking errors performance quickly. The reachingmode of the uncertain system using the proposed fuzzy sliding surface adaptive feedback linearization controller is guaranteed.Moreover,thechatteringaround the slidingsurface for the proposedcontrolcan bereduced.This method has an acceptable accuracy regarding to three nonlinear method; sliding surface technique, fuzzy logic and feedback linearization method. Therefore it can guarantee the performance of multi degrees of freedom joint in robot-assisted MIDCAB.