Open document
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General information |
| Author |
Farahani, Alireza Ahangarani; Suratgar, Amir Abolfazl; Talebi, Heidar Ali |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper presents an optimal control method
based on control effort minimization for a legless piezo
capsubot. The capsubot is an underactuated nonlinear
dynamics system which is driven by an internal impact force
and friction. Here, the motion mechanism of the capsubot is
divided into two stages. In the rst stage, the aim is to design
an optimal controller minimizing energy consumption. In
the second stage, optimization is not an objective and instead
a four‐step strategy for inner mass of the capsubot is
proposed. Then, based on the proposed motion strategy, a
trajectory prole is given. Using this trajectory prole, the
capsubot moves in the desired direction. To evaluate the
performance of the proposed control scheme, a comparative
study has been performed by means of simulation.
Simulation results show that the proposed approach is
promising as compared to the Open‐Loop Control (OLC)
approach and Close‐Loop control (CLC) approach which are
widely used in the literature for control of capsubots. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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