Decentralised and Centralised Fixed Structure H∞ Robust Loop Shaping for the MIMO Microsurgical Manipulation Based on PSOGSA

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dc.contributor.authorKaitwanidvilai, Somyot
dc.contributor.authorKonghuayrob, Poom
dc.contributor.authorAoyama, Hisayuki
dc.date.accessioned2026-08-06T10:54:15Z
dc.date.available2026-08-06T10:54:15Z
dc.date.issued2026-01-01
dc.description.abstractThis paper presents decentralised and centralised fixed-structure H∞ robust control methods optimised by the Particle Swarm Optimisation and Gravitational Search Algorithm (PSOGSA) for a coupled multi-input multi-output (MIMO) microsurgical manipulator. The design framework explicitly considers uncertainties and disturbance constraints. Conventional H∞ loop-shaping controllers are typically of high order, complex, and difficult to implement in practice. To address this limitation, Proportional-Integral-Derivative (PID)-structured decentralised and centralised H∞ controllers are proposed, providing compact structures while retaining robustness. The novelty of this work lies in embedding H∞ robustness criteria into practical PID-based frameworks, bridging the gap between theoretical robust design and experimental implementation in microsurgical applications. The proposed controllers are evaluated against a reduced-order H∞ controller derived from Hankel norm approximation and a Ziegler–Nichols tuned PID controller, using both simulation and experimental studies. Results demonstrate that the proposed controllers achieve improved stability margins (0.449–0.521 compared with 0.436 for the reduced-order design), maintain low root-mean-square errors (≈0.067–0.089) and remain robust under voltage disturbances where conventional PID control fails. These findings confirm the contribution of a practical and efficient robust control strategy for enhancing the precision and reliability of microsurgical manipulators.
dc.identifier.citationIet Control Theory and Applications, 20(1), 2026
dc.identifier.doi10.1049/cth2.70086
dc.identifier.issn17518644
dc.identifier.other2-s2.0-105026856182
dc.identifier.urihttps://dspace.kmitl.ac.th/handle/123456789/17773
dc.sourceIet Control Theory and Applications
dc.subjectcentralized control
dc.subjectdecentralized control
dc.subjectMIMO systems
dc.subjectPI control
dc.subjectrobust control
dc.subjectservomechanisms
dc.titleDecentralised and Centralised Fixed Structure H∞ Robust Loop Shaping for the MIMO Microsurgical Manipulation Based on PSOGSA
dc.typeArticle

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