Trajectory following for a flexible probe with state/input constraints: An approach based on model predictive control

Robotics and Autonomous Systems

Volumn 60, Issue 4, 2012, Pages 509-521

  Ko, Seong Young ^a,b   Rodriguez Y Baena, Ferdinando ^a  

^a IMPERIAL COLLEGE LONDON   (United Kingdom)

^b Chonnam National University   (South Korea)

Author keywords

Biologically inspired robots; Closed loop control; Model predictive control; Needle steering; Neurosurgery; Percutaneous therapy

Indexed keywords

BIO-INSPIRED; BIOLOGICALLY-INSPIRED ROBOTS; CLOSED-LOOP CONTROL; CONTROL APPROACH; CONTROL STRATEGIES; FAST COMPUTATION; NEEDLE STEERING; NONLINEAR KINEMATICS; OPTIMIZATION PROBLEMS; OUTER DIAMETERS; PERCUTANEOUS THERAPY; QP-PROBLEM; ROBUST PERFORMANCE; SIMULATED RESULTS; STATE CONSTRAINTS; STATE/INPUT CONSTRAINTS; TRACKING ERRORS; TRAJECTORY FOLLOWING; TWO-DIMENSIONAL TRAJECTORY;

COMPUTER SIMULATION; LINEARIZATION; MODEL PREDICTIVE CONTROL; NEUROSURGERY; PROBES; TRAJECTORIES;

PREDICTIVE CONTROL SYSTEMS;

EID: 84857051020     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2011.11.011     Document Type: Article

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