Trajectory tracking control of an underactuated capsubot

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

Journal: Autonomous Robots

Volume: 39

Issue: 2

Pages: 183-198

eISSN: 1573-7527

ISSN: 0929-5593

DOI: 10.1007/s10514-015-9434-3

© 2015, Springer Science+Business Media New York. Trajectory tracking control of underactuated systems is one of the challenging issues. This paper proposes a two-stage control strategy for the trajectory tracking of a class of underactuated mechanical systems. Two new acceleration profiles for the capsubot motion generation are proposed for the motion control of the capsubot. The optimum selection of the parameters of the acceleration profile is investigated. To track the trajectory of the capsubot, a selection algorithm is proposed. Simulation and experimentation are performed to demonstrate the feasibility of the control strategy and selection algorithm along with the newly proposed acceleration profiles.

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