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Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus Surgery

1
Department of Electrical, Electronics and Computer Engineering, University of Ulsan, Ulsan 44610, Korea
2
School of Electronics and Computer Engineering, Chonnam National University, Gwangju 61186, Korea
3
School of IT Convergence, University of Ulsan, Ulsan 44610, Korea
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(12), 2490; https://doi.org/10.3390/app9122490
Received: 7 May 2019 / Revised: 13 June 2019 / Accepted: 14 June 2019 / Published: 19 June 2019
(This article belongs to the Special Issue Machine Fault Diagnostics and Prognostics)
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Abstract

Continuum robots represent a class of highly sensitive, multiple-degrees-of-freedom robots that are biologically inspired. Because of their flexibility and accuracy, these robots can be used in maxillary sinus surgery. The design of an effective procedure with high accuracy, reliability, robust fault diagnosis, and fault-tolerant control for a surgical robot for the sinus is necessary to maintain the high performance and safety necessary for surgery on the maxillary sinus. Thus, a robust adaptive hybrid observation method using an adaptive, fuzzy auto regressive with exogenous input (ARX) Laguerre Takagi–Sugeno (T–S) fuzzy robust feedback linearization observer for a surgical robot is presented. To address the issues of system modeling, the fuzzy ARX-Laguerre technique is represented. In addition, a T–S fuzzy robust feedback linearization observer is applied to a fuzzy ARX-Laguerre to improve the accuracy of fault estimation, reliability, and robustness for the surgical robot in the presence of uncertainties. For fault-tolerant control in the presence of uncertainties and unknown conditions, an adaptive fuzzy observation-based feedback linearization technique is presented. The effectiveness of the proposed algorithm is tested with simulations. Experimental results show that the proposed method reduces the average position error from 35 mm to 2.45 mm in the presence of faults. View Full-Text
Keywords: continuum robot manipulator; maxillary sinus surgery; T–S fuzzy algorithm; variable structure algorithm; observation technique; fuzzy ARX–Laguerre system modeling; feedback linearization observer; adaptive technique; fault diagnosis; fault-tolerant control continuum robot manipulator; maxillary sinus surgery; T–S fuzzy algorithm; variable structure algorithm; observation technique; fuzzy ARX–Laguerre system modeling; feedback linearization observer; adaptive technique; fault diagnosis; fault-tolerant control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Piltan, F.; Kim, C.-H.; Kim, J.-M. Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus Surgery. Appl. Sci. 2019, 9, 2490.

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