Variable Structure Control of a Capsule Robot System

Yang Liu, Hongnian Yu

Research output: Chapter in Book/Report/Conference proceedingPublished conference contribution

5 Citations (Scopus)


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 languageEnglish
Title of host publicationIEEE International Conference on Networking, Sensing and Control
Place of PublicationOkayama, Japan
PublisherIEEE Explore
Number of pages7
ISBN (Electronic)978-1-4244-3492-3
ISBN (Print)978-1-4244-3491-6
Publication statusPublished - 14 Jul 2009
EventNetworking, Sensing and Control, 2009. ICNSC '09. - Okayama, Japan
Duration: 26 Mar 200929 Mar 2009


ConferenceNetworking, Sensing and Control, 2009. ICNSC '09.


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