Open-closed-loop iterative learning control with the system correction term for the human soft tissue welding robot in medicine

DOI10.1155/2020/2458318MaRDI QIDQ2217812zbMATH OpenOpenAlexFDO

Authors Yang Wu, Min Yang, Jiancheng Zhang

Publication date 14 January 2021

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2020/2458318

Mathematics Subject Classification ID

Iterative learning control (93B47) Feedback control (93B52) Nonlinear systems in control theory (93C10) Application models in control theory (93C95)

Review text

Summary: By combining manual welders (with intelligence and versatility) and automatic welding systems (with accuracy and consistency), an intelligent welding system for human soft tissue welding can be developed in medicine. This paper presents a data-correction control approach to human welder intelligence, which can be used to control the automated human soft tissue welding process. Human soft tissue welding can preconnect the excised tissue, and the shape of the tissue at the junction ensures the recovery of the operative organ function. This welding technology has the advantages of rapid operation, minimal tissue damage, no need for suture materials, faster recovery of the mechanism and properties of the living tissue, and the maintenance of the function of the organs. Model of the welding system is identified from the data; an open-closed-loop iterative learning control algorithm is then proposed to improve the tracking accuracy of the system. The algorithm uses the tracking error of current and previous to update the control law. Meanwhile, to further improve the accuracy under the conditions of external interference, a system correction term is added to the proposed ILC algorithm, which can be adjusted according to the system's errors and output and improve the capability of the target tracking greatly. A detailed convergence analysis for the ILC law has been given. Simulation results verify the feasibility and effectiveness of the proposed method for GTAW control tasks.

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Cites work

• Adaptive finite-time output-feedback control design for switched pure-feedback nonlinear systems with average dwell time
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Cited in

(2)

• Welding process tracking control based on multiple model iterative learning control
• Closed-loop control of robotic arc welding system with full-penetration monitoring

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