Analysis and control of a capsubot
Authors: Liu, Y., Yu, H. and Yang, T.C.
Journal: IFAC Proceedings Volumes (IFAC-PapersOnline)
Issue: 1 PART 1
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. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.