Adaptive observer-based controller design for a class of nonlinear systems with application to image guided control of steerable needles.
Mohammad MotaharifarHeidar Ali TalebiAhmad AfsharFarzaneh AbdollahiPublished in: ACC (2012)
Keyphrases
- image guided
- controller design
- control system
- class of nonlinear systems
- medical imaging
- control strategies
- nonlinear systems
- control strategy
- dynamic model
- particle swarm optimization
- intraoperative
- neural network
- robot assisted
- minimally invasive
- imaging modalities
- fuzzy logic controller
- adaptive control
- control scheme
- real time
- pid controller
- learning rate
- decision making