Intelligent Fuzzy PID 제어 알고리즘을 이용한 실시간 OS 기반 복강경 수술 로봇의 위치 제어 성능 강화에 관한 연구A Study of Position Control Performance Enhancement in a Real-Time OS Based Laparoscopic Surgery Robot Using Intelligent Fuzzy PID Control Algorithm
- Other Titles
- A Study of Position Control Performance Enhancement in a Real-Time OS Based Laparoscopic Surgery Robot Using Intelligent Fuzzy PID Control Algorithm
- Authors
- 송승준; 박준우; 신정욱; 이덕희; 김윤호; 최재순
- Issue Date
- 2008
- Publisher
- 대한전기학회
- Keywords
- Position Control; Fuzzy Controller; PID Controller; Gain Tuning; Surgery Robot
- Citation
- 전기학회논문지ABCD, v.57, no.3, pp.518 - 526
- Journal Title
- 전기학회논문지ABCD
- Volume
- 57
- Number
- 3
- Start Page
- 518
- End Page
- 526
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/124910
- ISSN
- 1229-2443
- Abstract
- The fuzzy self-tuning PID controller is a PID controller with a fuzzy logic mechanism for tuning its gains on-line. In this structure, the proportional, integral and derivative gains are tuned on-line with respect to the change of the output of system under control. This paper deals with two types of fuzzy self-tuning PID controllers, rule-based fuzzy PID controller and learning fuzzy PID controller. As a medical application of fuzzy PID controller, the proposed controllers were implemented and evaluated in a laparoscopic surgery robot system. The proposed fuzzy PID structures maintain similar performance as conventional PID controller, and enhance the position tracking performance over wide range of varying input. For precise approximation, the fuzzy PID controller was realized using the linear reasoning method, a type of product-sum-gravity method. The proposed controllers were compared with conventional PID controller without fuzzy gain tuning and was proved to have better performance in the experiment.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - ETC > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.