Optimal Controller Design of Legless Piezo Capsubot Movement

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 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.

Design, fabrication and 3-DOF control of legless capsule robot

“…In [4] capsule robots are analyzed and controlled from the underactuated point of view. There exist many different methods to control one dimensional capsubots, such as sliding mode control [13], optimal control [14], [15], [16] model predictive control [17,18], and iterative learning control [17]. Furthermore, a seven step motion strategy is presented in [4] for a single dimensional capsule robot.…”

A tridimensional model for the motion of nanobots at high viscosity coeflcient environment based on Navier-Stokes’ Equation, by applying Oseen’s approximation

“…of these robots is medical usages such as surgery, diabetes diagnosis and drug delivery to cancerous cells [3][4][5]. The duty of these nanobots is taking certain stuff to the specified locations; this process lowers the amount of the substance injected for a certain proportion of abstraction [6].…”