Research Output
Trajectory tracking control of an underactuated capsubot
  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.

  • Type:

    Article

  • Date:

    09 May 2015

  • Publication Status:

    Published

  • Publisher

    Springer Science and Business Media LLC

  • DOI:

    10.1007/s10514-015-9434-3

  • Cross Ref:

    9434

  • ISSN:

    0929-5593

  • Funders:

    Engineering and Physical Sciences Research Council; European Commission; EU Framework Programme 7 and FP6 and earlier programmes

Citation

Huda, M. N., & Yu, H. (2015). Trajectory tracking control of an underactuated capsubot. Autonomous Robots, 39(2), 183-198. https://doi.org/10.1007/s10514-015-9434-3

Authors

Keywords

Underactuated system, Capsubot, Two-stage control strategy, Selection algorithm

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