Behaviour-based control approach for the trajectory tracking of an underactuated planar capsule robot

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This data was imported from Scopus:

Authors: Huda, M.N., Yu, H. and Cang, S.

Journal: IET Control Theory and Applications

Volume: 9

Issue: 2

Pages: 163-175

eISSN: 1751-8652

ISSN: 1751-8644

DOI: 10.1049/iet-cta.2013.1100

© The Institution of Engineering and Technology 2015. A miniature capsule robot (capsubot)-which has no external moving parts whereas a conventional robot has legs and/or wheels-is suitable for in-vivo applications, engineering diagnosis and pipe inspection. This study addresses the trajectory-tracking problem of an underactuated planar capsubot. A combining piecewise and behaviour-based control algorithm is proposed for trajectory tracking. This study also proposes four motion behaviours, four switching behaviours and one stationary behaviour. A selection algorithm for behaviour-based control and rules for inner mass (IM) motion control in all the behaviours are developed. The partial feedback linearisation control is used for low-level IM motion control while the piecewise and behaviour-based control is used for the capsubot trajectory tracking control.

This source preferred by Shuang Cang

This data was imported from Web of Science (Lite):

Authors: Huda, M.N., Yu, H. and Cang, S.

Journal: IET CONTROL THEORY AND APPLICATIONS

Volume: 9

Issue: 2

Pages: 163-175

eISSN: 1751-8652

ISSN: 1751-8644

DOI: 10.1049/iet-cta.2013.1100

The data on this page was last updated at 04:42 on November 20, 2017.