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

Huda, M. Nazmul, Yu, Hongnian and Cang, Shuang (2015) Behaviour-based control approach for the trajectory tracking of an underactuated planar capsule robot. IET Control Theory & Applications, 9 (2). pp. 163-175. 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-tracking problem of an underactuated planar capsubot. A combining piecewise and behaviour-based control algorithm is proposed for trajectory tracking. This study also proposes four motion behaviours, four switching behaviours and one stationary behaviour. A selection algorithm for behaviour-based control and rules for inner mass (IM) motion control in all the behaviours are developed. The partial feedback linearisation control is used for low-level IM motion control while the piecewise and behaviour-based control is used for the capsubot trajectory tracking control.

Item Type:	Article
Subjects:	G900 Others in Mathematical and Computing Sciences H900 Others in Engineering
Department:	Faculties > Business and Law > Newcastle Business School
Depositing User:	Becky Skoyles
Date Deposited:	05 Dec 2018 09:15
Last Modified:	19 Nov 2019 09:50
URI:	http://nrl.northumbria.ac.uk/id/eprint/37082

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