2024
DOI: 10.1007/s00170-024-14410-0
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Stochastic LPV MPC-based path following control for bevel-tip flexible needle with probabilistic constraints

Jicheng Chen,
Zhi Qi,
Hui Zhang
et al.

Abstract: This paper addresses the path-tracking problem for flexible needle control systems using a stochastic linear parameter varying (LPV) and model predictive control (MPC) strategy. Flexible needles operating in dynamic environments with non-uniform tissue density often deviate from ideal assumptions, resulting in non-standard models. The bicycle kinematics model for flexible needle motion control is transformed into an LPV model, improving accuracy and enabling more efficient control. The proposed stochastic LPV … Show more

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