Robust Trajectory Tracking for a Flexible Probe in the Presence of Uncertainties and Disturbance


S. Zamiri - Electrical Engineering Department, Gonabad Branch, Islamic Azad University, Gonabad, Iran A. Vahidian Kamyad - Electrical Engineering Department, Ferdowsi University of Mashhad. Mashhad, Iran


This paper investigates the trajectory tracking of a bio-inspired flexible probe in medical where there exist of uncertainty and disturbance in the system. In the first approach, a sliding mode controller is designed to deal with the uncertainties and output disturbances in the system. In this case, it is assumed that the upper band of uncertainty in the system is known, but in practice this may not be really possible. Therefore, in the next section, the sliding mode controller has been extended to a robust – adaptive controller in such a way that even if there is no information on the uncertainty upper bond, the system is still stable and the probe continues to track the desired trajectory. In this case, an adaptive rule has been designed to estimate the upper bound of the uncertainty and disturbance. A numerical simulation shows the effectiveness of the proposed methodologies.