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.
|Number of pages||16|
|Early online date||9 May 2015|
|Publication status||Published - Aug 2015|
Bibliographical noteThe full text of this item is not available from the repository.
The final publication is available at Springer via http://dx.doi.org/10.1007/s10514-015-9434-3.
- Acceleration profiles
- Selection algorithm
- Trajectory tracking
- Trajectory tracking control
- Two-stage control strategies
- Under-actuated mechanical systems
- Under-actuated systems