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Analysis and control of a Capsubot
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posted on 2023-06-08, 08:50 authored by Yang Liu, Hongnian Yu, Tai YangIn 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.
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Publication status
- Published
Publisher
IFACExternal DOI
Volume
17Presentation Type
- paper
Event name
The 17th IFAC World CongressEvent location
Seoul, KoreaEvent type
conferenceEvent date
6-11th JulyISBN
978-3-902661-00-5Department affiliated with
- Engineering and Design Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2012-02-06Usage metrics
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