Control of a flexible bevel-tipped needle using super-twisting controller based sliding mode observer.
Sign Up to like & getrecommendations! Published in 2020 at "ISA transactions"
DOI: 10.1016/j.isatra.2020.09.011
Abstract: This article presents the implementation of super twisting controller based on higher-order sliding mode observer during needle maneuverability in minimal invasive surgery. To ensure chattering free and stable maneuverability of the needle in spite of… read more here.
Keywords: sliding mode; mode observer; control; super twisting ... See more keywords
Implicit-Euler Implementation of Super-Twisting Observer and Twisting Controller for Second-Order Systems
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Circuits and Systems II: Express Briefs"
DOI: 10.1109/tcsii.2019.2957271
Abstract: This brief proposes new discrete-time algorithms of the super-twisting observer and the twisting controller to be applied to second-order systems. The algorithms are based on the full implicit-Euler discretization, which contributes to the elimination of… read more here.
Keywords: observer twisting; controller; super twisting; twisting observer ... See more keywords