Variable Universe Fuzzy PID Control for Minimally Invasive Operation Robotic Catheter System

Jing Bo Shi

doi:10.4028/www.scientific.net/AMM.618.470

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 618Variable Universe Fuzzy PID Control for Minimally...

Variable Universe Fuzzy PID Control for Minimally Invasive Operation Robotic Catheter System

Abstract:

Robotic catheter minimally invasive operation requires control system of quick response, strong anti-jamming and real-time tracking of target trajectory. The contradiction between fuzzy PID control precision and its response speed limits its application in master-slave minimally invasive operation. The paper adopted variable universe fuzzy PID method to improve fuzzy PID method’s control precision without reducing the speed of response. The simulation results show that variable universe fuzzy PID control method has fast tracking performance and strong robustness, and it has feasibility and practicability in robotic catheter minimally invasive operation.

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Periodical:

Applied Mechanics and Materials (Volume 618)

Pages:

470-474

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.618.470

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Online since:

August 2014

Authors:

Jing Bo Shi*

Keywords:

Master-Slave Control, Position Tracking, Robot Driver, Robotic Catheter, Variable Universe Fuzzy PID Control

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* - Corresponding Author

References

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