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题名: Path-tracking control of bevel-tip needles using Model Predictive Control
作者: Huo BY(霍本岩); Zhao XG(赵新刚); Han JD(韩建达); Xu WL(徐卫良)
作者部门: 机器人学研究室
会议名称: 14th IEEE International Workshop on Advanced Motion Control, AMC 2016
会议日期: April 22-24, 2016
会议地点: Auckland, New zealand
会议录: 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2016
页码: 197-202
收录类别: EI
ISBN号: 9781479984640
关键词: bevel-tip needle ; path-tracking ; MPC ; PSO
摘要: The bevel-tip flexible needle is an improvement of the clinical puncture needle and has the potential to reduce surgery traumas and improve puncture accuracy. Due to the nonholonomic kinematics model, it is difficult to drive flexible needles to track a pre-plan path. In this paper, we propose an effective path tracking control method based on Model Predictive Control (MPC). The kinematics model of flexible needles is described firstly, according to which the control method is designed. Then, the path tracking control method is presented in detail. The finite prediction horizon of MPC is extended to infinite in order to obtain a global optimal solution. Due to the nonlinear model, the objective function of receding horizon optimization is also nonlinear, and Particle Swarm Optimization (PSO) is employed to search optimal predictive control series. At last, simulations are conducted and results illustrate that the proposed controller performs well to precisely drive the flexible needle to track a desired path.IEEE.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18840
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Huo BY,Zhao XG,Han JD,et al. Path-tracking control of bevel-tip needles using Model Predictive Control[C]. 见:14th IEEE International Workshop on Advanced Motion Control, AMC 2016. Auckland, New zealand. April 22-24, 2016.
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文件名: Path-tracking control of bevel-tip needles using Model Predictive Control.pdf
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