Polytopic model based interaction control for soft tissue manipulation

Arpad Takacs, Jozsef Kuti, Tamas Haidegger, Peter Galambos, Imre J. Rudas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Reliable force control is one of the key components of modern robotic teleoperation. The performance of these systems, in terms of safety and stability, largely depends on the controller design, as it is desired to deal with various disturbing conditions, such as uncertainties of the model parameters or latency-induced problems. This work presents a polytopic quasi-linear parameter-varying (qLPV) model derived from a previously verified nonlinear soft tissue model, along with a model-based force control scheme that involves a tensor product polytopic state feedback controller. The derivation is based on the Tensor Product (TP) Model Transformation. The proposed force control scheme is verified and evaluated through numerical simulations.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3899-3905
Number of pages7
ISBN (Electronic)9781509018970
DOIs
Publication statusPublished - Feb 6 2017
Event2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary
Duration: Oct 9 2016Oct 12 2016

Other

Other2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
CountryHungary
CityBudapest
Period10/9/1610/12/16

Keywords

  • LMI-based controller design
  • Polytopic model based control
  • QLPV modeling
  • Soft tissue modeling
  • Telesurgery control
  • TP Model Transformation

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Artificial Intelligence
  • Control and Optimization
  • Human-Computer Interaction

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  • Cite this

    Takacs, A., Kuti, J., Haidegger, T., Galambos, P., & Rudas, I. J. (2017). Polytopic model based interaction control for soft tissue manipulation. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings (pp. 3899-3905). [7844843] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2016.7844843