Analysis and control of a Capsubot

Liu, Yang, Yu, Hongnian and Yang, Tai (2008) Analysis and control of a Capsubot. In: The 17th IFAC World Congress, 6-11th July, Seoul, Korea.

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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.

Item Type: Conference or Workshop Item (Paper)
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Tai Yang
Date Deposited: 06 Feb 2012 21:07
Last Modified: 17 Jul 2012 08:52
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