A stabilizing control technique for minimally invasive surgical robot with uncertain dynamic parameters

Abstract

In order to realize the stabilization and the tracking performance of MIS (minimally invasive surgical) robot control system in the presence of uncertainty in the system dynamics, the linearization of the MIS tele-operation system model is processed firstly. Furthermore, the robust control problem is formulated as a robust state feedback stabilization… (More)
DOI: 10.1109/ROBIO.2014.7090750

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