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

15 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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