Trajectory tracking control of an underactuated capsubot

M. Nazmul Huda, Hongnian Yu

    Research output: Contribution to journalArticlepeer-review

    31 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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    The final publication is available at Springer via


    • 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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