کنترل یادگیری تدریجی مدل مینیمم تومور ریه در حال عمل جراحی پنوماتیک

In this paper, a model-based tracking control is proposed for a mechanism dedicated to accurately reproduce the breathing-induced motion of a human lung tumour. A lung tumour mimic model should perform the same smooth motion as a real one in a human body during inhalation and exhalation. In former work, a 3-dimensional mechanism equipped with three pneumatically driven axes has been developed and built up for this purpose. The discrete-time control structure consists of cascaded control loops: In the fast inner loops, the chambers pressures of the pneumatic cylinders are controlled, whereas the outer loops are related to the position control of the cylinders. Furthermore, iterative learning controllers are employed to compensate model uncertainties and lumped disturbance forces. The proposed overall control structure has been implemented and successfully validated on the innovative test rig.