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dc.contributor.authorLiu, Pengcheng
dc.contributor.authorYu, Hongnian
dc.contributor.authorCang, Shuang
dc.date.accessioned2019-01-25T11:58:32Z
dc.date.available2019-01-25T11:58:32Z
dc.date.issued2017-09-20
dc.identifier.citationLiu, P., Yu, H. and Cang, S. (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. https://doi.org/10.1177%2F0142331217708833en_US
dc.identifier.issn0142-3312
dc.identifier.issn1477-0369
dc.identifier.urihttp://hdl.handle.net/10369/10239
dc.descriptionArticle published in Transactions of the Institute of Measurement and Control, available at https://doi.org/10.1177%2F0142331217708833en_US
dc.description.abstractThis 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.en_US
dc.language.isoenen_US
dc.publisherSageen_US
dc.relation.ispartofseriesTransactions of the Institute of Measurement and Control;
dc.subjectviscoelasticityen_US
dc.titleGeometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic propertyen_US
dc.typeArticleen_US
dc.identifier.doihttps://doi.org/10.1177%2F0142331217708833
dcterms.dateAccepted2017
rioxxterms.versionAMen_US
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden_US


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