Positioning control of a capsule robot using sliding mode control

Authors:
Namkon Lee;Norihiro Kamamichi;Jun Ishikawa;Katsuhisa Furuta
Affiliations:
Department of Advanced Multidisciplinary Engineering, Tokyo Denki University, Japan;Department of Robotics and Mechatronics, Tokyo Denki University, Japan;Department of Robotics and Mechatronics, Tokyo Denki University, Japan;Department of Robotics and Mechatronics, Tokyo Denki University, Japan
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

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A survey of models, analysis tools and compensation methods for the control of machines with friction

Automatica (Journal of IFAC)

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Abstract

In this paper, locomotion of a capsule robot which is also called the Capsubot is studied. The Capsulbot is two-mass sustem and it moves with no external parts. In the previous our researches for the Capsubot, we have studied to find a proper control input through an optimal control and verified by simulations and experiments. The previous study for the Capsubot, however, was totally based on open-loop control, same results are not guaranteed if the Capsubot is placed in a rough surface condition and circumstance. Then, sliding mode control method is derived in this paper because of its robustness to a parameter changes. The validity of the proposed method is verified by numerical simulations.