期刊论文详细信息
International Journal of Advanced Robotic Systems
Optimal Controller Design of Legless Piezo Capsubot Movement
关键词: Minimum Effort;    Optimal Control;    Capsule Robot;    Capsubot;    Feedback Linearization;   
DOI  :  10.5772/51428
学科分类:自动化工程
来源: InTech
PDF
【 摘 要 】

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 first 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 profile is given. Using this trajectory profile, 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.

【 授权许可】

CC BY   

【 预 览 】
附件列表
Files Size Format View
RO201902185737965ZK.pdf 352KB PDF download
  文献评价指标  
  下载次数:27次 浏览次数:60次