Adaptive PI-Based Fuzzy Logic Auto-Tuning Controller Design and Implementation for Tactile Shape Display Device

Tactile displays have been proposed as a human-computer interface. Nowadays, it is utilised in hundreds of applications and a standard means of information presentation. Shape information display became essential to many surgical tasks (finding hidden anatomical features and locating tumours). There is a strong need for shape tactile display devices particularly for specialists who ought to feel the tissue shape and hardness amid laparoscopic surgeries. This paper describes the design and implementation of adaptive position controller for a tactile shape display device. The proposed display comprises of an cluster of 3×3 upward/downward free mobile pins based on SMA actuators. Each actuator is competent of creating a 5 mm uprooting as greatest. Due to the complex hysteresis and non-linear response of SMA actuators, a fuzzy logic auto-tuner algorithm is constructed to create the PI controller gains adaptive. The suggested controller is implemented to control the shape display tactile system. The proposed controller present prevalent response over existing controllers in the survey from point of no steady state error, no overshoot, no chattering and minimized hysteresis.