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Analysis and control of a Capsubot

presentation
posted on 2023-06-08, 08:50 authored by Yang Liu, Hongnian Yu, Tai 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.

History

Publication status

  • Published

Publisher

IFAC

Volume

17

Presentation Type

  • paper

Event name

The 17th IFAC World Congress

Event location

Seoul, Korea

Event type

conference

Event date

6-11th July

ISBN

978-3-902661-00-5

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2012-02-06

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