Analysis and Control of a Capsubot

Liu, Yang; Yu, Hongnian; Yang, Tingting

doi:10.3182/20080706-5-kr-1001.00130

Cited by 23 publications

(42 citation statements)

References 7 publications

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“…For traditional underactuated systems, friction is always omitted or simplified despite it plays a significant role in some engineering applications, e.g. [12,13]. For underactuated drillstrings, a comprehensive friction model is vital for depicting bit-rock contact in borehole but meanwhile will induce undesired motion regimes, i.e.…”

Section: Introductionmentioning

confidence: 99%

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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This paper is a postprint of a paper submitted to and accepted for publication in IET Control Theory and Applications and is subject to Institution of Engineering and Technology Copyright. AbstractStabilization of multibody drill-strings which exhibit stick-slip oscillations is studied in this paper from the point of view of underactuated system. The model has one control torque input acting on the rotary table from the land surface and multi-degree-of-freedom downhole parts to be controlled. Three motion regimes of the model including bit sticking, stick-slip oscillation, and rotating at a constant speed are identified and their equilibria are analyzed accordingly. The control objective of the system is to avoid the undesired bit sticking and stick-slip oscillation while tracking a desired angular velocity. Three slidingmode controllers are studied for the drill-string with estimated physical parameters. The stabilities of the proposed controllers are proved by using the Lyapunov direct method ensuring that any trajectory of the system can reach and stays thereafter on the predesigned sliding surface where the desired equilibrium is asymptotically stable. Extensive simulation results are given to demonstrate the effectiveness of the proposed controllers and their robustness to parametric uncertainties.

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Section: Introductionmentioning

confidence: 99%

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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“…• Novel UMS: Some UMS examples, such as biped robot [199,200], robotic hand [201], pendulum-driven cart [36,37], Capsubot [100,100], and AcroBOX [202], should bring reader's attention as design of new UMS is one of the trends in this field. We believe it is a promising research direction.…”

Section: Concluding Remarks and Future Researchmentioning

confidence: 99%

“…• Modelling with friction: Though friction plays a significant role in some precise applications [11,100], it is always ignored [10,4], or simplified [184,93] in modelling of UMS. Some references [98,196,197,198] can give readers an open mind along this direction;…”

Section: Concluding Remarks and Future Researchmentioning

confidence: 99%

A survey of underactuated mechanical systems

Liu

2013

IET Control Theory & Applications

236

134

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An underactuated mechanical system (UMS) is the system that has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research due to its diverse engineering applications.This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control methods, and to some extent, provides some unique insights for bottleneck issues of control and future research directions.

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“…On the other hand, the legless capsubot has a simple motion structure and can be positioned precisely in a complex environment. While the problem of the design and driving methods of the legless capsubot have received the attention of the researchers, the problem of optimization and control of the legless capsubot has not received the attention it deserves [4]. Optimal control is playing an increasingly important role in the design of modern systems.…”

Section: Introductionmentioning

confidence: 99%

“…A capsubot is a type of autonomous mobile robot which can explore elds inaccessible to humans and transmit useful data for analysis [4]. In medical applications, some tiny capsules can be equipped with a miniature camera and can be taken down by the patient to diagnose diseases while causing less pain [5].…”

Section: Introductionmentioning

confidence: 99%

Optimal Controller Design of Legless Piezo Capsubot Movement

Farahani

Suratgar

Talebi

2013

International Journal of Advanced Robotic Systems

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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 prole is given. Using this trajectory prole, 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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Analysis and Control of a Capsubot

Cited by 23 publications

References 7 publications

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

A survey of underactuated mechanical systems

Optimal Controller Design of Legless Piezo Capsubot Movement

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