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Minimally invasive surgery (MIS) robot is made like a long cylinder with small diameter that can fit through a small incision thus decreasing the amount of healthy tissue damaged. Because of the shape of the surgical robot, the cable-driven mechanism is using to the robot. However this is a highly nonlinear system so the performance of the system is not so good. This paper applied a robust motion...
Sliding mode control and fuzzy tuning techniques are combined to generate a robust and an accurate fuzzy sliding controller for non-linear systems. The control law consisting of equivalent control, robust control, and fuzzy control is designed such that the equivalent control satisfies desirable dynamics. Reaching the sliding surface is guaranteed by the robust control term even in the presence of...
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