Novel adaptive backstepping control of uncertain electrically driven haptic robot for surgical training systems

DOI10.1080/00207179.2020.1857845MaRDI QIDQ5863722zbMATH OpenOpenAlexFDO

Authors Brahim Brahmi, Khaled El-Monajjed, Mark Driscoll

Publication date 3 June 2022

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2020.1857845

zbMATH Keywords

adaptive controlfunction approximation techniquehapticsstate observersurgical training systemunknown actuators parametersunknown dynamics

Mathematics Subject Classification ID

Medical applications (general) (92C50) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Adaptive control of robot manipulators. A unified regressor-free approach.
• Adaptive nonlinear control without overparametrization
• Higher-order sliding modes, differentiation and output-feedback control
• scientific article; zbMATH DE number 194581 (Why is no real title available?)
• Springer handbook of robotics

Cited in

(6)

• Dynamic characterization and control of a parallel haptic interaction with an admittance type virtual environment
• Design of telerobotic drilling control system with haptic feedback
• Performance optimization of force feedback control system in virtual vascular intervention surgery
• Using an improved output feedback MPC approach for developing a haptic virtual training system
• Force Display Control System using 2 DOF Admittance Control in Surgical Training Simulator with Chiseling Operation
• Adaptive backstepping control for sensor-less haptic joysticks with uncertainty parameters

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