Analysis and Control of a Capsubot
Liu, Y.; Yu, H.; Yang, T.C.
Dr Hongnian Yu H.Yu@napier.ac.uk
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. https://doi.org/10.3182/20080706-5-kr-1001.00130
|Journal Article Type||Article|
|Online Publication Date||Jul 11, 2008|
|Deposit Date||Jun 15, 2022|
|Journal||IFAC Proceedings Volumes|
|Peer Reviewed||Peer Reviewed|
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