Model-Based Tracking Control of a Soft Growing Robot for Colonoscopy
Issued Date
2024-01-01
Resource Type
eISSN
25763202
Scopus ID
2-s2.0-85207008092
Journal Title
IEEE Transactions on Medical Robotics and Bionics
Rights Holder(s)
SCOPUS
Bibliographic Citation
IEEE Transactions on Medical Robotics and Bionics (2024)
Suggested Citation
Borvorntanajanya K., Treratanakulchai S., Baena F.R.Y., Franco E. Model-Based Tracking Control of a Soft Growing Robot for Colonoscopy. IEEE Transactions on Medical Robotics and Bionics (2024). doi:10.1109/TMRB.2024.3474059 Retrieved from: https://repository.li.mahidol.ac.th/handle/20.500.14594/101795
Title
Model-Based Tracking Control of a Soft Growing Robot for Colonoscopy
Author's Affiliation
Corresponding Author(s)
Other Contributor(s)
Abstract
This paper investigates the model based tracking control of soft growing robots with pneumatic actuation that extend according to the principle known as eversion. A model of the system which accounts for the pressure dynamics is presented. A new control law is constructed with a high-order sliding-mode approach and a nonlinear observer is employed to compensate for the effect of external forces. Numerical simulations and experiments demonstrate the effectiveness of the proposed controller compared to our former energy-shaping implementation and to a baseline sliding-mode controller. Experiments with a training phantom demonstrate that the new controller resulted in a reduced peak pressure, approximately 14.8% lower, a reduced tracking error, approximately 4.9% lower RMSE, and a reduced consumption of compressed air, approximately 3.9% lower, compared to a baseline sliding-mode algorithm.