2019
Explicit Model Predictive Control of a Magnetic Flexible Endoscope
Bruno Scaglioni, Luca Previtera, James W. Martin, Joseph C. Norton, Keith L. Obstein, Pietro Valdastri
RA-L 2019
In this paper, explicit model predictive control is applied in conjunction with nonlinear optimisation to a magnetically actuated flexible endoscope for the first time. The approach is aimed at computing the motion of the external permanent magnet, given the desired forces and torques. The strategy