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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]
Copyright of ISA Transactions is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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DbLabel: Engineering Source
An: 193721960
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  Data: Robust precision motion control of a piezoelectric microsurgical manipulator using adaptive non-singular terminal sliding mode.
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  Data: <searchLink fieldCode="AR" term="%22Junhui%2C+ZHANG%22">Junhui, ZHANG</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> 23461146114@stu.wzu.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Hongming%2C+ZHOU%22">Hongming, ZHOU</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<i> 21461440079@stu.wzu.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Yilong%2C+ZHENG%22">Yilong, ZHENG</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> 23461146121@stu.wzu.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Wentao%2C+XIONG%22">Wentao, XIONG</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> 23461146093@stu.wzu.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Shengdong%2C+YU%2E%22">Shengdong, YU.</searchLink><relatesTo>1,3,4,5</relatesTo> (AUTHOR)<i> shengdong@nuaa.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Jinyu%2C+MA%2E%22">Jinyu, MA.</searchLink><relatesTo>1,2,5</relatesTo> (AUTHOR)<i> jinyuma@nuaa.edu.cn</i>
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  Data: <searchLink fieldCode="JN" term="%22ISA+Transactions%22">ISA Transactions</searchLink>. Jun2026, Vol. 173, p478-492. 15p.
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  Data: <searchLink fieldCode="DE" term="%22Time+delay+estimation%22">Time delay estimation</searchLink><br /><searchLink fieldCode="DE" term="%22Sliding+mode+control%22">Sliding mode control</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+stability%22">Lyapunov stability</searchLink><br /><searchLink fieldCode="DE" term="%22Microsurgery%22">Microsurgery</searchLink><br /><searchLink fieldCode="DE" term="%22Uncertain+systems%22">Uncertain systems</searchLink><br /><searchLink fieldCode="DE" term="%22Motion+control+devices%22">Motion control devices</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: 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]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of ISA Transactions is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1016/j.isatra.2026.03.008
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 15
        StartPage: 478
    Subjects:
      – SubjectFull: Time delay estimation
        Type: general
      – SubjectFull: Sliding mode control
        Type: general
      – SubjectFull: Lyapunov stability
        Type: general
      – SubjectFull: Microsurgery
        Type: general
      – SubjectFull: Uncertain systems
        Type: general
      – SubjectFull: Motion control devices
        Type: general
    Titles:
      – TitleFull: Robust precision motion control of a piezoelectric microsurgical manipulator using adaptive non-singular terminal sliding mode.
        Type: main
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            NameFull: Junhui, ZHANG
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            NameFull: Hongming, ZHOU
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            NameFull: Yilong, ZHENG
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            NameFull: Wentao, XIONG
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            NameFull: Shengdong, YU.
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            NameFull: Jinyu, MA.
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          Dates:
            – D: 01
              M: 06
              Text: Jun2026
              Type: published
              Y: 2026
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              Value: 00190578
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              Value: 173
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