Continuous-Time Robust Control for Cancer Treatment Robots

TL;DR

This paper develops a continuous-time robust control framework for surgical robots, incorporating nonlinearities as uncertainties to enhance safety and performance in real-time cancer treatment procedures.

Contribution

It extends robust control methods to nonlinear, multi-link surgical robots and addresses numerical implementation challenges.

Findings

Successfully models nonlinearities as uncertainties in control design

Proposes a robust control approach suitable for complex surgical robots

Addresses numerical implementation issues in real-time control systems

Abstract

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.