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Analysis and Control of a Capsubot

Liu, Y.; Yu, H.; Yang, T.C.


Y. Liu

T.C. Yang


In this paper, a special underactuated system – a capsule robot, also called capsubot, is studied to investigate the tracking control issue of underactuated dynamic systems. A seven-step motion strategy of the capsubot is proposed. A trajectory profile is designed based on the proposed motion strategy. By using this profile, the capsubot can move effectively in a desired direction. Three control approaches are investigated: an open-loop control approach, a closed-loop control approach using partial feedback linearization technique, and a simple switch control approach. Extensive simulation studies are conducted to demonstrate the proposed approaches.


Liu, Y., Yu, H., & Yang, T. (2008). Analysis and Control of a Capsubot. IFAC papers online, 41(2), 756-761.

Journal Article Type Article
Online Publication Date Jul 11, 2008
Publication Date 2008
Deposit Date Jun 15, 2022
Journal IFAC Proceedings Volumes
Print ISSN 1474-6670
Publisher Elsevier
Peer Reviewed Peer Reviewed
Volume 41
Issue 2
Pages 756-761
Public URL