Research Article
The Design of Compact Robotic-Assisted Needle Position System with MPC-Based Remote Control
Table 1
Error variance (
) under different TD.
| Y1-MPC-250 | Y1-MPC-150 | Y1-MPC-50 | Y1-MPC-0 | Y1-pid-250 | Y1-pid-150 | Y1-pid-50 | Y1-PID-0 | Y1-reality-0 |
| 0.6625 | 0.4048 | 0.1512 | 0.0728 | 1.6730 | 0.7067 | 0.6178 | 0.6860 | 0.1077 |
|
|