Abstract
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 language | English |
|---|---|
| Pages (from-to) | 163-175 |
| Number of pages | 13 |
| Journal | IET Control Theory Applications |
| Volume | 9 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 26 Mar 2015 |
Keywords
- 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