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Path-tracking control of bevel-tip needles using Model Predictive Control
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
会议录名称2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码197-202
收录类别EI ; CPCI(ISTP)
EI收录号20163202693289
WOS记录号WOS:000390947100031
产权排序1
ISSN号1943-6572
ISBN号978-1-4799-8464-0
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18840
专题机器人学研究室
通讯作者Huo BY(霍本岩)
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, University of Chinese Academy of Sciences, Shenyang, China
2.Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand
推荐引用方式
GB/T 7714
Huo BY,Zhao XG,Han JD,et al. Path-tracking control of bevel-tip needles using Model Predictive Control[C]. Piscataway, NJ, USA:IEEE,2016:197-202.
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