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Robust precision motion control of a piezoelectric microsurgical manipulator using adaptive non-singular terminal sliding mode.

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Title: Robust precision motion control of a piezoelectric microsurgical manipulator using adaptive non-singular terminal sliding mode.
Authors: Junhui, ZHANG1 (AUTHOR) 23461146114@stu.wzu.edu.cn, Hongming, ZHOU1,2 (AUTHOR) 21461440079@stu.wzu.edu.cn, Yilong, ZHENG1 (AUTHOR) 23461146121@stu.wzu.edu.cn, Wentao, XIONG1 (AUTHOR) 23461146093@stu.wzu.edu.cn, Shengdong, YU.1,3,4,5 (AUTHOR) shengdong@nuaa.edu.cn, Jinyu, MA.1,2,5 (AUTHOR) jinyuma@nuaa.edu.cn
Source: ISA Transactions. Jun2026, Vol. 173, p478-492. 15p.
Subjects: Time delay estimation, Sliding mode control, Lyapunov stability, Microsurgery, Uncertain systems, Motion control devices
Abstract: This paper introduces a novel piezoelectric microsurgical manipulator and proposes an Adaptive Non-singular Terminal Sliding Mode Controller (ANTSMC) integrated with Time Delay Estimation (TDE) to address displacement errors induced by nonlinearity, time-varying parameters, and system uncertainties inherent in the piezoelectric screw-driven mechanism at the microscale. Through the Non-singular Terminal Sliding Mode Control (NTSMC), the chattering and singularity issues associated with conventional terminal sliding mode control are circumvented, and the system states are driven to equilibrium within a finite convergence time. Time Delay Estimation techniques are employed to estimate and counteract unknown aggregated disturbances in real-time, thereby obviating the necessity for a precise system model. Furthermore, an adaptive gain mechanism continually updates the controller's gain based on the current system state and disturbance levels, thus strengthening resilience to modeling uncertainties. The proposed control system's stability is validated through Lyapunov stability analysis. A high-precision biological cell microsurgery platform was constructed by integrating the manipulator, a biological microscope, and the control system. Experimental results demonstrate that the manipulator exhibits multi-scale kinematic characteristics, micrometer-level resolution, and a 26 mm working stroke. The proposed ANTSMC-TDE controller achieves a root mean square tracking error (RMSE) of 2.79 μ m in hardware experiments. • Novel SMC Strategy: This paper introduces a novel piezoelectric microsurgical manipulator and proposes an ANTSMC integrated with TDE to address displacement errors induced by nonlinearity, time-varying parameters, and system uncertainties inherent in the piezoelectric screw-driven mechanism at the microscale. • Online Estimation and Compensation: The integration of Time Delay Estimation (TDE) with the ANTSMC (forming the ANTSMC-TDE controller) to accurately estimate and compensate for lumped disturbances, thereby achieving precise trajectory tracking performance. • Stability Analysis: The paper rigorously demonstrates the stability of the closed-loop system under the proposed control strategy through the application of Lyapunov theory. • Biological Cell Microsurgery: A high-precision cell microsurgery platform was constructed by integrating the manipulator, microscopeand control system. The manipulator exhibits multi-scale kinematic characteristics, micrometer-level resolution, and a 26 mm working stroke. The ANTSMC-TDE controller achieves a tracking RMSE of 2.79 µm in hardware experiments. [ABSTRACT FROM AUTHOR]
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Database: Engineering Source
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Abstract:This paper introduces a novel piezoelectric microsurgical manipulator and proposes an Adaptive Non-singular Terminal Sliding Mode Controller (ANTSMC) integrated with Time Delay Estimation (TDE) to address displacement errors induced by nonlinearity, time-varying parameters, and system uncertainties inherent in the piezoelectric screw-driven mechanism at the microscale. Through the Non-singular Terminal Sliding Mode Control (NTSMC), the chattering and singularity issues associated with conventional terminal sliding mode control are circumvented, and the system states are driven to equilibrium within a finite convergence time. Time Delay Estimation techniques are employed to estimate and counteract unknown aggregated disturbances in real-time, thereby obviating the necessity for a precise system model. Furthermore, an adaptive gain mechanism continually updates the controller's gain based on the current system state and disturbance levels, thus strengthening resilience to modeling uncertainties. The proposed control system's stability is validated through Lyapunov stability analysis. A high-precision biological cell microsurgery platform was constructed by integrating the manipulator, a biological microscope, and the control system. Experimental results demonstrate that the manipulator exhibits multi-scale kinematic characteristics, micrometer-level resolution, and a 26 mm working stroke. The proposed ANTSMC-TDE controller achieves a root mean square tracking error (RMSE) of 2.79 μ m in hardware experiments. • Novel SMC Strategy: This paper introduces a novel piezoelectric microsurgical manipulator and proposes an ANTSMC integrated with TDE to address displacement errors induced by nonlinearity, time-varying parameters, and system uncertainties inherent in the piezoelectric screw-driven mechanism at the microscale. • Online Estimation and Compensation: The integration of Time Delay Estimation (TDE) with the ANTSMC (forming the ANTSMC-TDE controller) to accurately estimate and compensate for lumped disturbances, thereby achieving precise trajectory tracking performance. • Stability Analysis: The paper rigorously demonstrates the stability of the closed-loop system under the proposed control strategy through the application of Lyapunov theory. • Biological Cell Microsurgery: A high-precision cell microsurgery platform was constructed by integrating the manipulator, microscopeand control system. The manipulator exhibits multi-scale kinematic characteristics, micrometer-level resolution, and a 26 mm working stroke. The ANTSMC-TDE controller achieves a tracking RMSE of 2.79 µm in hardware experiments. [ABSTRACT FROM AUTHOR]
ISSN:00190578
DOI:10.1016/j.isatra.2026.03.008