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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.

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