Explicit Model Predictive Control of a Magnetic Flexible Endoscope

对胶囊的动力学进行建模，能更好的对胶囊进行控制，在已知胶囊预定义轨迹的情况下，对胶囊进行预测控制和定位。

一个磁灵活内窥镜的显式模型预测控制
Explicit Model Predictive Control of a Magnetic Flexible Endoscope [1]
Paper Link
Authors: Scaglioni, Bruno, et al.
2019, IEEE robotics and automation letters (RA-L)

0. 摘要 Abstract

显式模型预测控制与非线性优化结合被首次应用在磁驱柔性内窥镜。这个方法目标是在给定期望力和力矩下，计算外部永磁体的运动。这里描述的策略利用磁驱动的非线性本质的优势，并且显式地考虑工作空间的边界，和驱动限制。一开始，一个带尾绳的胶囊的简化的动态模型，基于欧拉-拉格朗日等式被开发出来。接着，显式模型预测控制被描述，并且一个基于单步，非线性优化路线的用于外部磁铁定位的新方法被提出。
explicit model predictive control is applied in conjunction with nonlinear optimization 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 described here takes advantage of the nonlinear nature of the magnetic actuation and explicitly considers the workspace boundaries, as well as the actuation constraints. Initially, a simplified dynamic model of the tethered capsule, based on the Euler-Lagrange equations is developed. Subsequently, the explicit model predictive control is described and a novel approach for the external magnet positioning, based on a single step, nonlinear optimisation routine, is proposed.

1. 介绍 Introduction

在台式平台以及猪活体标本上的广泛测试表明，影响胶囊可操作性的主要限制因素是结肠特征性的恶劣环境。这里，腹部褶皱和绷紧的弯曲阻塞胶囊，因而这些阻塞在控制动作的计算中最小化胶囊动力学的相关性。解剖障碍是最重要的的干扰源且不能被忽略，因为这可能导致对胶囊施加不期望的和次佳的作用力矩和力。这对PI控制器尤其如此，因为没有考虑工作空间限制和驱动的非线性本质。
Extensive tests on bench-top platforms, as well as porcine live specimen, have demonstrated that the main limiting factor affecting the manoeuvrability of the capsule is the hostile environment that characterises the colon. Here, haustral folds and tight bends obstruct the capsule, thus minimising the relevance of the capsule’s dynamics in the computation of the control action. The anatomical obstructions are significant sources of disturbances and cannot be neglected as this can lead to unexpected and suboptimal application of torques and forces to the capsule. This is particularly true with PI controllers, as the workspace limits and nonlinear nature of the actuation are not taken into account.

为了解决这个问题，一个基于显式模型预测控制(eMPC)控制方法被讨论在这篇信中。常规的MPC是一种著名的且广泛使用的技术，原本为化学过程开发的。MPC有特别的特性，显式考虑驱动和状态的限制来解决一个优化控制问题，因此对于上面讨论的问题来说非常有利。在另一方面，它要求优化问题的在线解决，这会极大地增加计算负担。由于这个原因，我们选择eMPC方法，这种方法转移大量的计算负担到线下，作为回报，限制定义了有限的灵活度。
In order to overcome this issue, a control approach based on explicit Model Predictive Control (eMPC) is discussed in this letter. Conventional MPC is a well known and widely adopted technique, originally developed for chemical processes. MPC has the unique characteristic of solving an optimal control problem explicitly considering constraints on actuation and state, thus being particularly beneficial with respect to the issues discussed above. On the other hand, it requires the on-line solution of an optimization problem, which can significantly increase the computational burden. For this reason, we use the eMPC approach, which shifts most of the computational burden off-line, in return for a limited flexibility in the definition of constraints.

这释放了的计算能力被用来提出一个新的方法来解决磁问题。比如，EPM相对于胶囊的位姿。所提出的技术是基于一个单步优化过程的解，目的是控制EPM的绝对位置，而不是增量位移。
This freed computational power is then used to propose a new approach to the solution of the magnetic problem, the pose of the EPM with respect to the capsule, required to obtain a desired force/torque. The proposed technique is based on the solution of a single-step optimization procedure, with the aim of controlling the absolute position of the EPM rather than the incremental displacement.

2. 理论 Methods

用于概念验证，我们专注于一个预定义的轨迹在一个临床相关性结肠仿体中。采用不正确的轨迹和强迫胶囊沿着一个受约束方向的力的用户输入将导致一个无效的控制动作。这问题不能被解决在运动控制层面，而是需要一个额外的有环境知识的智能层面。
For proof-of-concept, we focus on following a pre-defined trajectory in a clinically relevant colon phantom. The adoption of ill-planned trajectories as well as user inputs that force the capsule in a constrained direction would result in an ineffective control action. This issue cannot be tackled at a motion control level, but rather requires an additional layer of intelligence with knowledge of the environment. This interesting topic will be discussed in future works.

2.A 胶囊模型 Capsule Model

动态模型，用于控制设计目的的，在这里被首次描述。
the dynamic model, used for control design purposes, is described here for the first time.

$$\frac{d}{dt}\frac{\partial L}{\partial \dot{\mathbf{q}}}-\frac{\partial L}{\partial \mathbf{q}}=\xi$$

$L=T-U$, $T$和$U$分别是是kinetic and potential energy terms. $\xi$是胶囊上施加的磁力和滑动阻力的合力。$\mathbf{q}(t)=[x(t),y(t),\varphi (t),\theta (t),\phi (t)]$

$\mathbf{u}=[f_x,f_y,{\tau }_{\varphi },{\tau }_{\theta },{\tau }_{}$