Covariance control with variance constraints for continuous perturbed stochastic systems
Systems & Control Letters
On the self-similar nature of Ethernet traffic (extended version)
IEEE/ACM Transactions on Networking (TON)
The Disturbance Decoupling Problem for Systems Over a Ring
SIAM Journal on Control and Optimization
A new method for variable structure control system design: a linear matrix inequality approach
Automatica (Journal of IFAC)
Sliding mode control of uncertain delay differential systems
Proceedings of the second world congress on Nonlinear analysts : part 2: part 2
MR Compatible Surgical Assist Robot: System Integration and Preliminary Feasibility Study
MICCAI '00 Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention
Regular paper: Model matching for linear systems with delays and 2D systems
Automatica (Journal of IFAC)
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This paper presents a sliding-mode control (SMC) design for the tele-robotic neurosurgical system. The proposed tele-robotic neurosurgical system with force, video, and voice feedback is introduced first, which can be tele-operated over the Internet. However, delay on the Internet may cause the proposed system unstable. It is a critical issue to deal with time delay in the proposed system. Based on an uncertain delayed stochastic model of the proposed system, the SMC is employed. In this paper, both constant and varying time delay are considered. The sliding surface was designed to maximize the calculable set of admissible delays. By defining Lyapunov--Krasovskii functions, the conditions for the existence of the sliding regime were studied. In addition, linear matrix inequalities were employed for the optimization procedure. Finally, results of simulation proved feasibility and efficiency of the proposed method.