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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)
Department机器人学研究室
Conference Name14th IEEE International Workshop on Advanced Motion Control, AMC 2016
Conference DateApril 22-24, 2016
Conference PlaceAuckland, New zealand
Source Publication2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2016
Pages197-202
Indexed ByEI ; CPCI(ISTP)
EI Accession number20163202693289
WOS IDWOS:000390947100031
Contribution Rank1
ISSN1943-6572
ISBN978-1-4799-8464-0
KeywordBevel-tip Needle Path-tracking Mpc Pso
AbstractThe 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18840
Collection机器人学研究室
Corresponding AuthorHuo BY(霍本岩)
Affiliation1.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
Recommended Citation
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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