Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576, Singapore.
Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576, Singapore.
ISA Trans. 2019 Jul;90:178-188. doi: 10.1016/j.isatra.2018.12.048. Epub 2019 Feb 10.
This paper presents an enhanced adaptive robust disturbance observer-based motion tracking control methodology. This control approach is established and investigated for a semi-automated hand-held ear surgical device for the treatment of Otitis Media with Effusion. The proposed control methodology is utilised for tracking a desired motion trajectory in the presence of unknown or uncertain system parameters, nonlinearities including hysteresis, and disturbances in the motion system. The stability of the control approach is analysed. The convergence of position and velocity tracking errors is proven theoretically. A precise tracking performance following desired motion trajectory is demonstrated in the experimental study.
本文提出了一种增强型自适应鲁棒干扰观测器的运动跟踪控制方法。这种控制方法是为治疗分泌性中耳炎的半自动手持式耳部手术器械而建立和研究的。在所提出的控制方法中，在存在未知或不确定系统参数、包括滞后在内的非线性以及运动系统中的干扰的情况下，用于跟踪期望的运动轨迹。分析了控制方法的稳定性。从理论上证明了位置和速度跟踪误差的收敛性。在实验研究中，展示了对期望运动轨迹的精确跟踪性能。
