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

M. Nazmul Huda, Hongnian Yu, Shuang Cang

    Research output: Contribution to journalArticlepeer-review

    21 Citations (Scopus)


    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.

    Original languageEnglish
    Pages (from-to)163-175
    Number of pages13
    JournalIET Control Theory Applications
    Issue number2
    Publication statusPublished - 26 Mar 2015


    • feedback
    • microrobots
    • trajectory control
    • mobile robots
    • motion control
    • capsubot trajectory tracking control
    • behaviour-based control approach
    • underactuated planar capsule robot
    • miniature capsule robot
    • in-vivo applications
    • engineering diagnosis
    • pipe inspection
    • trajectory-tracking problem
    • behaviour-based control algorithm
    • motion behaviours
    • switching behaviours
    • stationary behaviour
    • selection algorithm
    • inner mass motion control
    • IM motion control
    • partial feedback linearisation control
    • piecewise-based control

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Electrical and Electronic Engineering
    • Human-Computer Interaction
    • Computer Science Applications
    • Control and Optimization


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