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Geometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic property

Liu, Pengcheng; Yu, Hongnian; Cang, Shuang

Authors

Pengcheng Liu

Shuang Cang



Abstract

This paper proposes a novel geometric analysis-based trajectory planning approach for underactuated capsule systems with viscoelastic property. The idea is to reduce complexity and to characterize coupling by imposing a harmonic drive and then to compute the dynamics projection onto a hyper-manifold, such that the issue of trajectory planning is converted into geometric analysis and trajectory optimization. The objective is to obtain optimal locomotion performance in terms of tracking error, average capsule speed and energy efficacy. Firstly, an analytical two-stage velocity trajectory is given based on control indexes and dynamic constraints. A locomotion-performance index is then proposed and evaluated to identify the optimal viscoelastic parameters. The trajectory is optimally parameterized through rigorous analysis. A nonlinear tracking controller is designed using collocated partial feedback linearization. For the sake of efficiency in progression and energy, the proposed method provides a novel approach in characterizing and planning motion trajectory for underactuated capsule systems such that the optimal locomotion can be achieved. Simulation results demonstrate the effectiveness and feasibility of the proposed method.

Citation

Liu, P., Yu, H., & Cang, S. (2018). Geometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic property. Transactions of the Institute of Measurement and Control, 40(7), 2416-2427. https://doi.org/10.1177/0142331217708833

Journal Article Type Article
Online Publication Date Sep 20, 2017
Publication Date 2018-04
Deposit Date Jun 18, 2022
Journal Transactions of the Institute of Measurement and Control
Print ISSN 0142-3312
Electronic ISSN 1477-0369
Publisher SAGE Publications
Peer Reviewed Peer Reviewed
Volume 40
Issue 7
Pages 2416-2427
DOI https://doi.org/10.1177/0142331217708833
Keywords Underactuated capsule systems, trajectory planning, nonlinear geometric analysis, viscoelasticity
Public URL http://researchrepository.napier.ac.uk/Output/2880387