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	A Stable Tele-Robotic Neurosurgical System Based on SMC
	Weimin Shen ; Jason Gu ; Zuren Feng
	2007
会议名称	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
英文摘要	A design of a sliding mode controller is given for a tele-robotic neurosurgical system in this paper. The proposed tele-robotic neurosurgicalsystem with force, video, and voice feedback can be tele-operated through the Internet. However, time delay on the Internet may make the proposedsystem unstable if it is over 0.3s, therefore it is a critical issue to deal with the time delay effect occurring in the proposed system. Based on an uncertain delayed stochastic model of the proposed system, a sliding mode controller was designed to stabilize the proposed system. In addition, both cases with constant and varying time delay are thoroughly considered and exhaustively studied in this paper. The sliding surface was also designed to maximize the calculable set of admissible delays up to 0.7s. Finally, results of simulation prove the feasibility and efficiency of the proposed approach.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/2073]
专题	深圳先进技术研究院_集成所
推荐引用方式 GB/T 7714	Weimin Shen,Jason Gu,Zuren Feng. A Stable Tele-Robotic Neurosurgical System Based on SMC[C]. 见: 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO.

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