Korn Borvorntanajanya;Shen Treratanakulchai;Ferdinando Rodriguez y Rodriguez;Enrico Franco
{"title":"基于模型的结肠镜检查软生长机器人跟踪控制","authors":"Korn Borvorntanajanya;Shen Treratanakulchai;Ferdinando Rodriguez y Rodriguez;Enrico Franco","doi":"10.1109/TMRB.2024.3474059","DOIUrl":null,"url":null,"abstract":"This paper investigates the model based tracking control of soft growing robots with pneumatic actuation that extend according to the principle known as eversion. A model of the system which accounts for the pressure dynamics is presented. A new control law is constructed with a high-order sliding-mode approach and a nonlinear observer is employed to compensate for the effect of external forces. Numerical simulations and experiments demonstrate the effectiveness of the proposed controller compared to our former energy-shaping implementation and to a baseline sliding-mode controller. Experiments with a training phantom demonstrate that the new controller resulted in a reduced peak pressure, approximately 14.8% lower, a reduced tracking error, approximately 4.9% lower RMSE, and a reduced consumption of compressed air, approximately 3.9% lower, compared to a baseline sliding-mode algorithm.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1354-1362"},"PeriodicalIF":3.4000,"publicationDate":"2024-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Model-Based Tracking Control of a Soft Growing Robot for Colonoscopy\",\"authors\":\"Korn Borvorntanajanya;Shen Treratanakulchai;Ferdinando Rodriguez y Rodriguez;Enrico Franco\",\"doi\":\"10.1109/TMRB.2024.3474059\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper investigates the model based tracking control of soft growing robots with pneumatic actuation that extend according to the principle known as eversion. A model of the system which accounts for the pressure dynamics is presented. A new control law is constructed with a high-order sliding-mode approach and a nonlinear observer is employed to compensate for the effect of external forces. Numerical simulations and experiments demonstrate the effectiveness of the proposed controller compared to our former energy-shaping implementation and to a baseline sliding-mode controller. Experiments with a training phantom demonstrate that the new controller resulted in a reduced peak pressure, approximately 14.8% lower, a reduced tracking error, approximately 4.9% lower RMSE, and a reduced consumption of compressed air, approximately 3.9% lower, compared to a baseline sliding-mode algorithm.\",\"PeriodicalId\":73318,\"journal\":{\"name\":\"IEEE transactions on medical robotics and bionics\",\"volume\":\"6 4\",\"pages\":\"1354-1362\"},\"PeriodicalIF\":3.4000,\"publicationDate\":\"2024-10-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE transactions on medical robotics and bionics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10705128/\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, BIOMEDICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE transactions on medical robotics and bionics","FirstCategoryId":"1085","ListUrlMain":"https://ieeexplore.ieee.org/document/10705128/","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, BIOMEDICAL","Score":null,"Total":0}
Model-Based Tracking Control of a Soft Growing Robot for Colonoscopy
This paper investigates the model based tracking control of soft growing robots with pneumatic actuation that extend according to the principle known as eversion. A model of the system which accounts for the pressure dynamics is presented. A new control law is constructed with a high-order sliding-mode approach and a nonlinear observer is employed to compensate for the effect of external forces. Numerical simulations and experiments demonstrate the effectiveness of the proposed controller compared to our former energy-shaping implementation and to a baseline sliding-mode controller. Experiments with a training phantom demonstrate that the new controller resulted in a reduced peak pressure, approximately 14.8% lower, a reduced tracking error, approximately 4.9% lower RMSE, and a reduced consumption of compressed air, approximately 3.9% lower, compared to a baseline sliding-mode algorithm.