癌治療ロボットのための連続時間ロバスト制御
Continuous-Time Robust Control for Cancer Treatment Robots
多リンク手術ロボットの非線形性を不確かさとして扱い、連続時間ロバスト制御系に組み込む手法を提案し、その数値実装の課題を検討した。
著者: Vlad Mihaly, Iosif Birlescu, Mircea Şuşcă, Damien Chablat, Petru Dobra
分類: cs.RO
原文アブストラクト
The control system in surgical robots must ensure patient safety and real time control. As such, all the uncertainties which could appear should be considered into an extended model of the plant. After such an uncertain plant is formed, an adequate controller which ensures a minimum set of performances for each situation should be computed. As such, the continuous-time robust control paradigm is suitable for such scenarios. However, the problem is generally solved only for linear and time invariant plants. The main focus of the current paper is to include m-link serial surgical robots into Robust Control Framework by considering all nonlinearities as uncertainties. Moreover, the paper studies an incipient problem of numerical implementation of such control structures.
