Force feedback control for variable parameter vascular interventional surgery robot based on terminal sliding mode
Aiming at the problem of variable parameters and external disturbance in force feedback control system of master-slave vascular interventional surgery robot,a terminal sliding mode control method with continuous function characteristics was proposed.The parameters and changes of the force feedback control system of vascular interventional surgery were analyzed based on the calculation and force measurement methods.Then,a terminal sliding mode controller with continuous characteristic function was designed based on the terminal sliding mode control method,and the stability of the controller was proved by using the Lyapunov stability analysis method.Finally,simulation verification was carried out.It shows that from the two perspectives of tracking effect and controller output,the improved terminal sliding mode control method can not only effectively suppress chattering,but also improve the tracking accuracy of the signal,which proves that the strategy has important application value in improving the robustness and the control accuracy of variable parameter system.
NETL
NSTL
万方数据
维普
