Path-tracking control of bevel-tip needles using Model Predictive Control
文献类型：会议论文
| 作者 | Huo BY(霍本岩); Zhao XG(赵新刚) ; Han JD(韩建达); Xu WL(徐卫良)
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| 出版日期 | 2016 |
| 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 |
| 关键词 | bevel-tip needle path-tracking MPC PSO |
| 页码 | 197-202 |
| 通讯作者 | 霍本岩 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISSN号 | 1943-6572 |
| ISBN号 | 978-1-4799-8464-0 |
| WOS记录号 | WOS:000390947100031 |
| 源URL | [http://ir.sia.cn/handle/173321/18840]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 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]. 见:14th IEEE International Workshop on Advanced Motion Control, AMC 2016. Auckland, New zealand. April 22-24, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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