A Comparative Study of Fuzzy PID Control Algorithm for Position Control Performance Enhancement in a Real-time OS Based Laparoscopic Surgery Robot

S. J. Song; J. W. Park; J. W. Shin; D. H. Lee; J. Choi; K. Sun

doi:10.1007/978-3-540-92841-6_268

A Comparative Study of Fuzzy PID Control Algorithm for Position Control Performance Enhancement in a Real-time OS Based Laparoscopic Surgery Robot

S. J. Song
, J. W. Park
, J. W. Shin
, D. H. Lee
, J. Choi
, K. Sun

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

Position control in joint space is a basic problem in robot control where the goal is to make the manipulator joint track a desired trajectory. A number of globally asymptotically stable position control algorithms are available in the literature. Among them, an application of intelligent fuzzy PID controller to position control of robot system is studied in this paper. The robot system used is the laparoscopic surgery robot of the National Cancer Center, Korea. The intelligent fuzzy control algorithms consist of rule-based fuzzy PID and learning fuzzy schemes. The results of the experiments for the rulebased fuzzy PID controller and the learning fuzzy controller are compared with results using conventional PID controller. Various performance indices like the RMS error, IAE, ISE and etc. are used for comparison. It is observed that the learning fuzzy controller gives the best performance. Further refinement of the proposed algorithm for the control performance enhancement is under way.

Original language	English
Title of host publication	13th International Conference on Biomedical Engineering - ICBME 2008
Pages	1090-1093
Number of pages	4
DOIs	https://doi.org/10.1007/978-3-540-92841-6_268
Publication status	Published - 2009
Event	13th International Conference on Biomedical Engineering, ICBME 2008 - , Singapore Duration: 2008 Dec 3 → 2008 Dec 6

Publication series

Name	IFMBE Proceedings
Volume	23
ISSN (Print)	1680-0737

Other

Other	13th International Conference on Biomedical Engineering, ICBME 2008
Country/Territory	Singapore
Period	08/12/3 → 08/12/6

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Fuzzy PID Control
Laparoscopic surgery
Learning Control
Position Control
Real-time OS
Rule-based Fuzzy PID control
Surgical robot
Telesurgery

ASJC Scopus subject areas

Bioengineering
Biomedical Engineering

Access to Document

10.1007/978-3-540-92841-6_268

Cite this

Song, S. J., Park, J. W., Shin, J. W., Lee, D. H., Choi, J., & Sun, K. (2009). A Comparative Study of Fuzzy PID Control Algorithm for Position Control Performance Enhancement in a Real-time OS Based Laparoscopic Surgery Robot. In 13th International Conference on Biomedical Engineering - ICBME 2008 (pp. 1090-1093). (IFMBE Proceedings; Vol. 23). https://doi.org/10.1007/978-3-540-92841-6_268

A Comparative Study of Fuzzy PID Control Algorithm for Position Control Performance Enhancement in a Real-time OS Based Laparoscopic Surgery Robot. / Song, S. J.; Park, J. W.; Shin, J. W. et al.
13th International Conference on Biomedical Engineering - ICBME 2008. 2009. p. 1090-1093 (IFMBE Proceedings; Vol. 23).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Song, SJ, Park, JW, Shin, JW, Lee, DH, Choi, J & Sun, K 2009, A Comparative Study of Fuzzy PID Control Algorithm for Position Control Performance Enhancement in a Real-time OS Based Laparoscopic Surgery Robot. in 13th International Conference on Biomedical Engineering - ICBME 2008. IFMBE Proceedings, vol. 23, pp. 1090-1093, 13th International Conference on Biomedical Engineering, ICBME 2008, Singapore, 08/12/3. https://doi.org/10.1007/978-3-540-92841-6_268

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abstract = "Position control in joint space is a basic problem in robot control where the goal is to make the manipulator joint track a desired trajectory. A number of globally asymptotically stable position control algorithms are available in the literature. Among them, an application of intelligent fuzzy PID controller to position control of robot system is studied in this paper. The robot system used is the laparoscopic surgery robot of the National Cancer Center, Korea. The intelligent fuzzy control algorithms consist of rule-based fuzzy PID and learning fuzzy schemes. The results of the experiments for the rulebased fuzzy PID controller and the learning fuzzy controller are compared with results using conventional PID controller. Various performance indices like the RMS error, IAE, ISE and etc. are used for comparison. It is observed that the learning fuzzy controller gives the best performance. Further refinement of the proposed algorithm for the control performance enhancement is under way.",

keywords = "Fuzzy PID Control, Laparoscopic surgery, Learning Control, Position Control, Real-time OS, Rule-based Fuzzy PID control, Surgical robot, Telesurgery",

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AU - Choi, J.

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A Comparative Study of Fuzzy PID Control Algorithm for Position Control Performance Enhancement in a Real-time OS Based Laparoscopic Surgery Robot

Abstract

Publication series

Other

UN SDGs

Keywords

ASJC Scopus subject areas

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