Autonomous Robots

, Volume 39, Issue 2, pp 183–198 | Cite as

Trajectory tracking control of an underactuated capsubot

  • M. Nazmul Huda
  • Hongnian YuEmail author


Trajectory tracking control of underactuated systems is one of the challenging issues. This paper proposes a two-stage control strategy for the trajectory tracking of a class of underactuated mechanical systems. Two new acceleration profiles for the capsubot motion generation are proposed for the motion control of the capsubot. The optimum selection of the parameters of the acceleration profile is investigated. To track the trajectory of the capsubot, a selection algorithm is proposed. Simulation and experimentation are performed to demonstrate the feasibility of the control strategy and selection algorithm along with the newly proposed acceleration profiles.


Underactuated system Capsubot Two-stage control strategy Selection algorithm 



This work has been supported by the EPSRC funded UK-Japan Network on Human Adaptive Mechatronics Project (EP/E025250/1), EU Erasmus Mundus Project-ELINK (EM ECW-ref.149674-EM-1-2008-1-UK-ERAMUNDUS) and EU FP7-PEOPLE-2012-IRSES Project RABOT (318902).

Supplementary material

Supplementary material 1 (mp4 28960 KB)


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Copyright information

© Springer Science+Business Media New York 2015

Authors and Affiliations

  1. 1.Bournemouth UniversityBournemouthUK
  2. 2.Coventry UniversityCoventryUK

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