Intelligent Fractional Order Sliding Mode Based Control for Surgical Robot Manipulator

In the era of digital OT (Operating Theatre), developments in Robot-Assisted Surgery (RAS) can greatly benefit medical field. RAS is a method technological advancement that uses surgical robots to assist complicated surgeries. Its implementation improves ability specialised doctors perform surgery great extent. This paper addresses dynamics and control highly non-linear 3DOF robot manipulator occurrence external disturbances uncertainties. The integration robust SMC (Sliding Mode Control) with smoothing mechanism, FOPID (Fractional-Order Proportional Integral Derivative) controller fuzzy provides high degree robustness minimal chatter. addition type-2 logic controller, named intelligent T2F-SFOSMC (Type-2 Fuzzy-Smoothing Fractional Order Sliding Controller), system’s performance by ruling out prototype model developed laboratory its outcomes are validated on OP5600: real-time simulator. simulation results experimental proposed compared conventional controllers, which illustrates efficacy superiority controller’s during typical situation surgery. outperforms controllers providing greater precision, stability time-varying nonlinear multi-incision trajectory.