A stabilizing control technique for minimally invasive surgical robot with uncertain dynamic parameters

In order to realize the stabilization and the tracking performance of MIS (minimally invasive surgical) robot control system in the presence of uncertainty in the system dynamics, the linearization of the MIS tele-operation system model is processed firstly. Furthermore, the robust control problem is formulated as a robust state feedback stabilization problem subject to parameter uncertainties and a robust compensation problem. And then, based on the robust parametric approach, eigenstructure assignment and reference model tracking theory, a parametric optimization method for robust controller design is presented. The simulation results show the effectiveness of the proposed approach.