Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus Surgery

Abstract

Continuum robots represent a class of highly sensitive, multiple-degrees-of-freedom robots that are biologically inspired. Because of their flexibility and accuracy, these robots can be used in maxillary sinus surgery. The design of an effective procedure with high accuracy, reliability, robust fault diagnosis, and fault-tolerant control for a surgical robot for the sinus is necessary to maintain the high performance and safety necessary for surgery on the maxillary sinus. Thus, a robust adaptive hybrid observation method using an adaptive, fuzzy auto regressive with exogenous input (ARX) Laguerre Takagi−Sugeno (T−S) fuzzy robust feedback linearization observer for a surgical robot is presented. To address the issues of system modeling, the fuzzy ARX-Laguerre technique is represented. In addition, a T−S fuzzy robust feedback linearization observer is applied to a fuzzy ARX-Laguerre to improve the accuracy of fault estimation, reliability, and robustness for the surgical robot in the presence of uncertainties. For fault-tolerant control in the presence of uncertainties and unknown conditions, an adaptive fuzzy observation-based feedback linearization technique is presented. The effectiveness of the proposed algorithm is tested with simulations. Experimental results show that the proposed method reduces the average position error from 35 mm to 2.45 mm in the presence of faults.

Keywords

• continuum robot manipulator
• maxillary sinus surgery
• T–S fuzzy algorithm
• variable structure algorithm
• observation technique
• fuzzy ARX–Laguerre system modeling
• feedback linearization observer
• adaptive technique
• fault diagnosis
• fault-tolerant control