| Author | Wiput Tuvayanond |
| Note | A dissertation submitted in partial fulfillment of the requirements for the
degree of Doctor of Engineering in
Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | Pneumatic control has broadly been developed and utilized in industrial applications due to high performance, low cost and durability. However, there exist only few works on developing pneumatic actuator for medical surgery. The main purposes of this research are to develop a prototype of pneumatic surgical robot for Minimally Invasive Surgery (MIS) and to propose robust control as position controller for the robot. In the first part of the research, a 3-DOF robot mechanism is designed by using pneumatic actuators. In the second part of the research, a novel development of a robust controller, called 2-DOF H loop shaping structured controller based on Particle SwarmOptimization(PSO), is proposed and presented by considering the robustness, stability, closed-loop response and minimal control signal in the control design criteria. Unlike the other conventional H controllers, the proposed controller has not only high performance and robustness but also cost-effective simple structure, which is favorable
in practical implementation. The proposed controller is simulated and experimented
under nonlinear dynamics of the developed pneumatic 3-DOFs surgical robot. The
simulation results verify that the proposed controller possesses a better H sub-optimal controller than the conventional 2-DOF H loop shaping controller. Also, the
experimental results show that the proposed controller has ability to tolerate disturbing conditions existing in pneumatic system. |
| Year | 2018 |
| Type | Dissertation |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Mongkol Ekpanyapong;Dailey, Matthew N. ;Hara, Shinji ; |
| Scholarship Donor(s) | Rajamangala University of Technology
Thanyaburi (RMUTT), Thailand;AIT
Fellowship |
| Degree | Thesis (Ph. D.) -- Asian Institute of Technology, 2018 |