{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,17]],"date-time":"2026-06-17T15:44:45Z","timestamp":1781711085165,"version":"3.54.5"},"reference-count":38,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2024,11,7]],"date-time":"2024-11-07T00:00:00Z","timestamp":1730937600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/X033546\/1"],"award-info":[{"award-number":["EP\/X033546\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This article investigates the model-based control in configurations space of a soft continuum manipulator for minimally invasive surgery. The main control challenges for these types of systems are the presence of model uncertainties and nonlinearities. To this end, a sliding-mode controller, a Lyapunov redesign controller, and an adaptive controller have been designed and compared by means of simulations and experiments on a prototype. The results indicate that the adaptive controller yields better accuracy but a slower transient. Conversely, the sliding-mode controller and Lyapunov redesign yield a faster response but can result in chattering or steady-state errors.<\/jats:p>","DOI":"10.3390\/robotics13110162","type":"journal-article","created":{"date-parts":[[2024,11,7]],"date-time":"2024-11-07T12:12:13Z","timestamp":1730981533000},"page":"162","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Robust and Adaptive Control of a Soft Continuum Manipulator for Minimally Invasive Surgery"],"prefix":"10.3390","volume":"13","author":[{"given":"Liujia","family":"Wang","sequence":"first","affiliation":[{"name":"Department of Electrical and Electronic Engineering, Imperial College London, London SW7 2AZ, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6816-6910","authenticated-orcid":false,"given":"Kaiwen","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Electrical and Electronic Engineering, Imperial College London, London SW7 2AZ, UK"},{"name":"Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9991-7377","authenticated-orcid":false,"given":"Enrico","family":"Franco","sequence":"additional","affiliation":[{"name":"Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK"},{"name":"Department of Mechanical Engineering, Imperial College London, London SW7 2AZ, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,11,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Mohareri, O., Salcudean, S.E., and Nguan, C. 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