A Study of Position Control Performance Enhancement in a Real-Time OS Based Laparoscopic Surgery Robot Using Intelligent Fuzzy PID Control Algorithm

Intelligent Fuzzy PID 제어 알고리즘을 이용한 실시간 OS 기반 복강경 수술 로봇의 위치 제어 성능 강화에 관한 연구

  • 송승준 (고려대 의대 의학과 의용생체공학) ;
  • 박준우 (국립암센터 연구소 의공학연구과) ;
  • 신정욱 (국립암센터 연구소 의공학연구과) ;
  • 이덕희 (국립암센터 연구소 의공학연구과) ;
  • 김연호 (고려대 의대 한국인공장기센터) ;
  • 최재순 (고려대 의대 한국인공장기센터)
  • Published : 2008.03.01


The fuzzy self-tuning PID controller is a PID controller with a fuzzy logic mechanism for tuning its gains on-line. In this structure, the proportional, integral and derivative gains are tuned on-line with respect to the change of the output of system under control. This paper deals with two types of fuzzy self-tuning PID controllers, rule-based fuzzy PID controller and learning fuzzy PID controller. As a medical application of fuzzy PID controller, the proposed controllers were implemented and evaluated in a laparoscopic surgery robot system. The proposed fuzzy PID structures maintain similar performance as conventional PID controller, and enhance the position tracking performance over wide range of varying input. For precise approximation, the fuzzy PID controller was realized using the linear reasoning method, a type of product-sum-gravity method. The proposed controllers were compared with conventional PID controller without fuzzy gain tuning and was proved to have better performance in the experiment.


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