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