Geometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic property

Liu, Pengcheng and Yu, Hongnian and Cang, Shuang (2018) Geometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic property. Transactions of the Institute of Measurement and Control, 40 (7). pp. 2416-2427. ISSN 0142-3312

Full content URL: https://doi.org/10.1177%2F0142331217708833

Documents
Geometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic property.pdf

Request a copy
31370 TIM708833.pdf
[img]
[Download]
[img] PDF
Geometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic property.pdf - Whole Document
Restricted to Repository staff only

1MB
[img]
Preview
PDF
31370 TIM708833.pdf - Whole Document

1MB
Item Type:Article
Item Status:Live Archive

Abstract

This paper proposes a novel geometric analysis-based trajectory planning approach for underactuated capsule systems with viscoelastic property. The idea is to reduce complexity and to characterize coupling by imposing a harmonic drive and then to compute the dynamics projection onto a hyper-manifold, such that the issue of trajectory planning is converted into geometric analysis and trajectory optimization. The objective is to obtain optimal locomotion performance in terms of tracking error, average capsule speed and energy efficacy. Firstly, an analytical two-stage velocity trajectory is given based on control indexes and dynamic constraints. A locomotion-performance index is then proposed and evaluated to identify the optimal viscoelastic parameters. The trajectory is optimally parameterized through rigorous analysis. A nonlinear tracking controller is designed using collocated partial feedback linearization. For the sake of efficiency in progression and energy, the proposed method provides a novel approach in characterizing and planning motion trajectory for underactuated capsule systems such that the optimal locomotion can be achieved. Simulation results demonstrate the effectiveness and feasibility of the proposed method.

Keywords:Underactuated capsule systems, trajectory planning, nonlinear geometric analysis, viscoelasticity
Subjects:H Engineering > H310 Dynamics
G Mathematical and Computer Sciences > G150 Mathematical Modelling
Divisions:College of Science
Related URLs:
ID Code:31370
Deposited On:10 Apr 2018 10:16

Repository Staff Only: item control page