Ultrafine manipulation considering input saturation using proxy-based sliding mode control

Medical technology and bioengineering have achieved great progress recently. The main reasons are the technique and manipulation system in order to operate the cell directly, but the operational force can not be fedback to the operators. Macro-micro bilateral control is the method for force transmission between operator and target object. However, in macro-micro bilateral control, the reference values to the actuator often become too large due to the controller with high gain and scaling factor. Then, the wind-up phenomenon happens due to the actuator-force saturation and undesired and dangerous behavior might occur. To solve this problem, this paper proposes macro-micro bilateral control using the proxy-based sliding mode control. Proxy-based sliding mode control is the method that simple sliding mode control and PID or PD are combined. PSMC is one of the anti-windup method because the saturation function is equivalently considered in the control algorithm. The force saturation can be avoided by using PSMC. The validity of the proposed method is verified by the experimental results.