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- W2801609843 abstract "A minimally invasive surgery robot is difficult to control when actuator saturation exists. In this paper, a Takagi-Sugeno fuzzy model-based controller is designed for a minimally invasive surgery robot with actuator saturation, which is difficult to control. The contractively invariant ellipsoid theorem is applied for the actuator saturation. The proposed scheme can be derived using the <mml:math xmlns:mml=http://www.w3.org/1998/Math/MathML id=M1><mml:mi>H</mml:mi></mml:math>-infinity control theorem and parallel distributed compensation. The result is rebuilt in the form of linear matrix inequalities for easier calculation by computer. Meanwhile, the uniformly ultimately bounded stable and the prescribed <mml:math xmlns:mml=http://www.w3.org/1998/Math/MathML id=M2><mml:mi>H</mml:mi></mml:math>-infinity control performance can be guaranteed. The proposed scheme is simulated in a Novint Falcon haptic device system." @default.
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- W2801609843 date "2018-01-01" @default.
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- W2801609843 title "T-S Fuzzy-Based Optimal Control for Minimally Invasive Robotic Surgery with Input Saturation" @default.
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- W2801609843 doi "https://doi.org/10.1155/2018/5738274" @default.
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