Analysis and Control of a Capsubot

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

Abstract

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.

Citation

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
• 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
• DOI: https://doi.org/10.3182/20080706-5-kr-1001.00130
• Public URL: http://researchrepository.napier.ac.uk/Output/2879341