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

Huda, MN, Yu, H and Cang, S ORCID: https://orcid.org/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:	Number Type 10.1049/iet-cta.2013.1100 DOI 1357734 Other
Divisions:	Schools > School of Science and Technology
Record created by:	Linda Sullivan
Date Added:	27 Aug 2020 13:52
Last Modified:	31 May 2021 15:17
URI:	https://irep.ntu.ac.uk/id/eprint/40542

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