Design of a Model-Free Cross-Coupled Controller with Application to Robotic NOTES

Tao Shen, Carl A. Nelson, Justin Bradley

Research output: Contribution to journalArticlepeer-review

8 Scopus citations


Cross-coupled synchronization is an effective method of controlling an articulated robot especially in applications with restrictive requirements and low tolerance to error. Model-free methods of cross-coupled synchronization provide similar performance in cases where models are difficult or impossible to obtain. Here a novel model-free cross-coupled adaptive synchronization method is developed and applied to a Natural Orifice Transluminal Endoscopic Surgery (NOTES) robot - where reducing contour error has the important benefit of reducing the risk of surgical error and improving patient outcomes. To accomplish this, a baseline model-free cross coupled strategy is used, and an adaptive control gain and a balance scaling factor are used to improve the performance. Experiments are then performed validating the functionality and effectiveness of the controller using a NOTES robot. The results show significant improvement in decreasing contour error when compared with similar methods.

Original languageEnglish (US)
Pages (from-to)473-489
Number of pages17
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number2
StatePublished - Aug 15 2019


  • Adaptive gain
  • Balance scaling
  • Cross-coupled control
  • Model-free control
  • Motion synchronization
  • NOTES robot

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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