Abstract
Capsule robots have attracted great attention from researchers due to their potential applications in medicine. In this paper, the capsule robot system is studied from the control point of view, i.e. an underactuated system which has two degrees of freedom but only one control actuator. An exponentially stable robust nonlinear control scheme based on Lyapunov stability theory is studied on the capsule robot system. The proposed scheme is robust to parameter uncertainty caused by the imprecise measurement in real experiment. Simulation results are presented to demonstrate the robustness of the proposed scheme.
Original language | English |
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Title of host publication | IEEE International Conference on Networking, Sensing and Control |
Place of Publication | Okayama, Japan |
Publisher | IEEE Explore |
Pages | 220-226 |
Number of pages | 7 |
ISBN (Electronic) | 978-1-4244-3492-3 |
ISBN (Print) | 978-1-4244-3491-6 |
DOIs | |
Publication status | Published - 14 Jul 2009 |
Event | Networking, Sensing and Control, 2009. ICNSC '09. - Okayama, Japan Duration: 26 Mar 2009 → 29 Mar 2009 |
Conference
Conference | Networking, Sensing and Control, 2009. ICNSC '09. |
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Country/Territory | Japan |
City | Okayama |
Period | 26/03/09 → 29/03/09 |