A Fuzzy-PD model for master-slave tracking in teleoperated robotic surgery

摘要

Several control schemes have been developed to enhance Master-Slave (MS) control in teleoperated robots however, achieving reduced tracking error and real time response are still major concerns. This study proposed Fuzzy-PD control system for accurate and timely MS tracking in robotic surgery. The proposed model considers tracking error and its first derivative as inputs into fuzzy controller which decides appropriate PD control gains needed to estimate effective control signals. The model was implemented in MATLAB Simulink, and simulation results demonstrate better control performance when compared with existing methods.