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This paper focuses on the problem of the robust H∞ control with circular pole constraints in uncertain singular systems. Firstly, the concept of quadratic d stablizability with an H∞ norm-bound is introduced for the uncertain continuous-time singular system. Secondly, the robust H∞ control problem is solved in the uncertain continuous-time singular systems, on the basis of circular pole constraints...
Accurate needle insertion into soft, inhomogeneous tissue is a critical aspect of many medical problems, such as the percutaneous diagnosis and therapies. In such procedures, the flexible tip-steerable needle with bevel tips can deflect during insertion and reach the target we set beforehand. In 2D motion planning, it's crucial to maintain the needle in a desired plane. However, the inhomogeneous...
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