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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: |
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| 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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