Trajectory tracking control of an underactuated capsubot

M. Nazmul Huda, Hongnian Yu

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)


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.
Original languageEnglish
Pages (from-to)183-198
Number of pages16
JournalAutonomous Robots
Issue number2
Early online date9 May 2015
Publication statusPublished - Aug 2015

Bibliographical note

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  • Algorithms
  • Navigation
  • Acceleration profiles
  • Capsubot
  • Selection algorithm
  • Trajectory tracking
  • Trajectory tracking control
  • Two-stage control strategies
  • Under-actuated mechanical systems
  • Under-actuated systems
  • Trajectories


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