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Two-stage neural sliding-mode control of magnetic levitation in minimal invasive surgery

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Abstract

A levitation platform can be inserted into a patient’s abdominal cavity to perform diagnosis or a surgery procedure with a significantly reduced level of incision and an enhanced field of vision and operation. This paper proposes a new controller for the magnetic levitation, which connects the neural control (NC) and the sliding-mode control (SMC) serially, while the other neural sliding-mode controllers (NSMC) combine NC and SMC parallel. We call the new NSMC as two-stage neural sliding control. It has less chattering during its discrete realization and ensures finite-time convergence. Real-time experiments for a prototype of magnetic levitation in minimal invasion surgery are presented. The comparisons with other regular controllers, such as PID, NC, SMC, and normal NSMC, are made by experiment.

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Authors and Affiliations

  1. Departamento de Control Automatico, CINVESTAV-IPN, Av.IPN 2508, Mexico, DF, 07360, Mexico

    Wen Yu & Panuncio Cruz Francisco

  2. Departamento de Computación, CINVESTAV-IPN, Av.IPN 2508, Mexico, DF, 07360, Mexico

    Xiaoou Li

Authors
  1. Wen Yu
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  2. Panuncio Cruz Francisco
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  3. Xiaoou Li
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Correspondence to Wen Yu.

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Yu, W., Francisco, P.C. & Li, X. Two-stage neural sliding-mode control of magnetic levitation in minimal invasive surgery. Neural Comput & Applic 20, 1141–1147 (2011). https://doi.org/10.1007/s00521-010-0477-2

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  • DOI: https://doi.org/10.1007/s00521-010-0477-2

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