Research Output
Analysis and Control of a Capsubot
  In this paper, a special underactuated system – a capsule robot, also called capsubot, is studied to investigate the tracking control issue of underactuated dynamic systems. A seven-step motion strategy of the capsubot is proposed. A trajectory profile is designed based on the proposed motion strategy. By using this profile, the capsubot can move effectively in a desired direction. Three control approaches are investigated: an open-loop control approach, a closed-loop control approach using partial feedback linearization technique, and a simple switch control approach. Extensive simulation studies are conducted to demonstrate the proposed approaches.

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  • Date:

    11 July 2008

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  • Publisher

    Elsevier BV

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  • Funders:

    Historic Funder (pre-Worktribe)


Liu, Y., Yu, H., & Yang, T. (2008). Analysis and Control of a Capsubot. IFAC papers online, 41(2), 756-761.


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