Output Feedback Stabilization of Image Guidance of Steering Flexible Bevel-Tip Needles

Abstract: This paper deals with the design of an adaptive output feedback controller for stabilizingthe penetration of flexible bevel-tip needles to a specific planar slice. The paper mainly focuses onthe nonholonomic reduced order existing kinematic model obtained by a feedback linearization ofthe original system. The proposed method involves an adaptive Luenberger observer and a staticstate feedback controller. The observer will be adjusted using some well-determined adaptationlaws. The controller forces the observer model to be bounded so the model converges to an adjustableinvariant set. The methodology proposes a sphere shape invariant set for the internal statesof the transformed model where its radius is minimized by two design algorithms. To validate theresult of the proposed methodology, comparative simulation examples are given to illustrate theperformance of our design compared to previous approaches. These examples reveal the superiorityof our proposed method.

کلیدواژه ها:

Adaptive control ، Luenberger observer ، Needle steering ، Nonholonomic system ، Trajectory planning