Analysis and control of a capsubot

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Authors: Liu, Y., Yu, H. and Yang, T.C.

Journal: IFAC Proceedings Volumes (IFAC-PapersOnline)

Volume: 17

Issue: 1 PART 1

ISBN: 9783902661005

ISSN: 1474-6670

DOI: 10.3182/20080706-5-KR-1001.1613

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.

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