In this section

Mechatronics in Medicine

The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.

Head of Group

B415C Bessemer Building
South Kensington Campus

+44 (0)20 7594 7046

What we do

The Mechatronics in Medicine Laboratory develops robotic and mechatronics surgical systems for a variety of procedures including neuro, cardiovascular, orthopaedic surgeries, and colonoscopies. Examples include bio-inspired catheters that can navigate along complex paths within the brain (such as EDEN2020), soft robots to explore endoluminal anatomies (such as the colon), and virtual reality solutions to support surgeons during knee replacement surgeries.

Meet the team

Mr Ayhan Aktas
Casual - Student demonstrator - lower rate

Dr Daniel Bautista Salinas
Research Associate

Dr Kaiwen Chen
Research Associate

Mr Zejian Cui
Research Assistant

Mr Connor Daly
Research Postgraduate

Emeritus Professor Brian L Davies FREng
Emeritus Professor

Mr Zhaoyang Jacopo Hu
Research Postgraduate

Dr Hisham M Iqbal
Research Associate

Mr Alex Ranne
Research Postgraduate

Professor Ferdinando M Rodriguez y Baena
Co-Director of Hamlyn Centre, Professor of Medical Robotics

Dr Jialei Shi
Research Associate

Mr Spyridon Souipas
Casual - Other work

Ms Emilia Zari
Research Postgraduate

Citation

BibTex format

@article{Franco:2020:10.1002/rnc.4985,
author = {Franco, E and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1002/rnc.4985},
journal = {International Journal of Robust and Nonlinear Control},
pages = {4112--4128},
title = {Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances},
url = {http://dx.doi.org/10.1002/rnc.4985},
volume = {30},
year = {2020}
}

Download

RIS format (EndNote, RefMan)

TY  - JOUR
AB  - This article investigates the control problem for underactuated portcontrolled Hamiltonian systems with multiple linearly parameterized additive disturbances including matched, unmatched, constant, and statedependent components. The notion of algebraic solution of the matching equations is employed to design an extension of the interconnection and damping assignment passivitybased control methodology that does not rely on the solution of partial differential equations. The result is a dynamic statefeedback that includes a disturbance compensation term, where the unknown parameters are estimated adaptively. A simplified implementation of the proposed approach for underactuated mechanical systems is detailed. The effectiveness of the controller is demonstrated with numerical simulations for the magneticlevitatedball system and for the ballonbeam system.
AU  - Franco,E
AU  - Rodriguez,y Baena F
AU  - Astolfi,A
DO  - 10.1002/rnc.4985
EP  - 4128
PY  - 2020///
SN  - 1049-8923
SP  - 4112
TI  - Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances
T2  - International Journal of Robust and Nonlinear Control
UR  - http://dx.doi.org/10.1002/rnc.4985
UR  - https://onlinelibrary.wiley.com/doi/full/10.1002/rnc.4985
UR  - http://hdl.handle.net/10044/1/79024
VL  - 30
ER  -