Behaviour-based control approach for the trajectory tracking of an underactuated planar capsule robot

Huda, M.N., Yu, H. and Cang, S. ORCID: 0000-0002-7984-0728, 2015. Behaviour-based control approach for the trajectory tracking of an underactuated planar capsule robot. IET Control Theory and Applications, 9 (2): 163. ISSN 1751-8644

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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-trackingproblem of an underactuated planar capsubot.

A combining piece-wise and behaviour-basedcontrol algorithm is proposed for trajectory tracking. The paper also proposes four motion behaviours, four switching behaviours, one stationary behaviour. A selection algorithm for behavior-based control and rules for IM motion control in all the behaviours are developed. The partial feedback linearization control is used for low-level IM motion control while the piece-wise and behaviour based control is used for the capsubot trajectory tracking control.

Item Type: Journal article
Alternative Title: A behaviour-based control approach for the trajectory tracking of aunderactuated planar capsule robot
Publication Title: IET Control Theory and Applications
Creators: Huda, M.N., Yu, H. and Cang, S.
Publisher: Institution of Engineering and Technology (IET)
Date: 2015
Volume: 9
Number: 2
ISSN: 1751-8644
Identifiers:
NumberType
10.1049/iet-cta.2013.1100DOI
1357734Other
Divisions: Schools > School of Science and Technology
Record created by: Linda Sullivan
Date Added: 27 Aug 2020 13:52
Last Modified: 27 Aug 2020 13:52
URI: http://irep.ntu.ac.uk/id/eprint/40542

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