Path-tracking control of bevel-tip needles using Model Predictive Control

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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)
	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
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
内容类型	会议论文
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.