Abstract
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.
Similar content being viewed by others
References
Aguiar, A. P., & Hespanha, J. P. (2007). Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty. IEEE Transactions on Automatic Control, 52(8), 1362–1379.
Ashrafiuon, H., Muske, K. R., McNinch, L. C., & Soltan, R. A. (2008). Sliding-mode tracking control of surface vessels. IEEE Transactions on Industrial Electronics, 55(11), 4004–4012.
Bi, F., Wei, Y., Zhang, J., & Cao, W. (2010). Position-tracking control of underactuated autonomous underwater vehicles in the presence of unknown ocean currents. IET Control Theory & Applications, 4(11), 2369–2380.
Biomechanics Q (2013). Retrieved 12 December 2013, from http://www.quintic.com/.
Carpi, F., Kastelein, N., Talcott, M., & Pappone, C. (2011). Magnetically controllable gastrointestinal steering of video capsules. IEEE Transactions on Biomedical Engineering, 58(2), 231–234.
Carta, R., Sfakiotakis, M., Pateromichelakis, N., Thoné, J., Tsakiris, D., & Puers, R. (2011). A multi-coil inductive powering system for an endoscopic capsule with vibratory actuation. Sensors and Actuators A: Physical, 172(1), 253–258.
Chernous’ko, F. (2002). The optimum rectilinear motion of a two-mass system. Journal of Applied Mathematics and Mechanics, 66(1), 1–7.
Do, K. D., Jiang, Z. P., & Pan, J. (2003). On global tracking control of a vtol aircraft without velocity measurements. IEEE Transactions on Automatic Control, 48(12), 2212–2217.
Huang, J., Ding, F., Fukuda, T., & Matsuno, T. (2013). Modeling and velocity control for a novel narrow vehicle based on mobile wheeled inverted pendulum. IEEE Transactions on Control Systems Technology, 21(5), 1607–1617.
Lee, N., Kamamichi, N., Li, H., & Furuta, K. (2008). Control system design and experimental verification of capsubot. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1927–1932). IEEE
Liu, Y., Yu, H., & Yang, T. (2008). Analysis and control of a capsubot. In: Proceedings of the 17th World Congress the International Federation of Automatic Control (pp. 756–761).
Lopez-Martnez, M., Acosta, J., & Cano, J. (2010). Non-linear sliding mode surfaces for a class of underactuated mechanical systems. IET Control Theory & Applications, 4(10), 2195–2204.
Menciassi, A., Accoto, D., Gorini, S., & Dario, P. (2006). Development of a biomimetic miniature robotic crawler. Autonomous Robots, 21(2), 155–163.
MINIMOTOR SA S (2013) Retrieved 12 December, 2013 from http://www.faulhaber-group.com/.
Olympus (2014) Endocapsule system. Retrieved August, 2014, from http://www.olympus.co.uk/
Park, M. S., & Chwa, D. (2009). Swing-up and stabilization control of inverted-pendulum systems via coupled sliding-mode control method. IEEE Transactions on Industrial Electronics, 56(9), 3541–3555.
Pathak, K., Franch, J., & Agrawal, S. (2005). Velocity and position control of a wheeled inverted pendulum by partial feedback linearization. IEEE Transactions on Robotics, 21(3), 505–513.
Valdastri, P., Webster, R., Quaglia, C., Quirini, M., Menciassi, A., & Dario, P. (2009). A new mechanism for mesoscale legged locomotion in compliant tubular environments. IEEE Transactions on Robotics, 25(5), 1047–1057.
Xu, R., & Özgüner, Ü. (2008). Sliding mode control of a class of underactuated systems. Automatica, 44(1), 233–241.
Yamagata, Y., & Higuchi, T. (1995). A micropositioning device for precision automatic assembly using impact force of piezoelectric elements. In: Proceedings of the 1995 IEEE International Conference on Robotics and Automation (vol. 1, pp. 666–671). IEEE
Yu, H., Liu, Y., & Yang, T. (2008). Closed-loop tracking control of a pendulum-driven cart-pole underactuated system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 222(2), 109–125.
Yu, H., Huda, M., & Wane, S. (2011). A novel acceleration profile for the motion control of capsubots. In: Proceedings of the 2011 IEEE International Conference on Robotics and Automation (pp. 2437–2442). IEEE
Zhang, Y., Jiang, S., Zhang, X., Ruan, X., & Guo, D. (2011). A variable-diameter capsule robot based on multiple wedge effects. IEEE/ASME Transactions on Mechatronics, 16(2), 241–254.
Acknowledgments
This work has been supported by the EPSRC funded UK-Japan Network on Human Adaptive Mechatronics Project (EP/E025250/1), EU Erasmus Mundus Project-ELINK (EM ECW-ref.149674-EM-1-2008-1-UK-ERAMUNDUS) and EU FP7-PEOPLE-2012-IRSES Project RABOT (318902).
Author information
Authors and Affiliations
Corresponding author
Electronic supplementary material
Below is the link to the electronic supplementary material.
Supplementary material 1 (mp4 28960 KB)
Rights and permissions
About this article
Cite this article
Huda, M.N., Yu, H. Trajectory tracking control of an underactuated capsubot. Auton Robot 39, 183–198 (2015). https://doi.org/10.1007/s10514-015-9434-3
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10514-015-9434-3