Optimized adaptive tracking control for an underactuated vibro-driven capsule system

This paper studies the issue of adaptive trajectory tracking control for an underactuated vibro-driven capsule system and presents a novel motion generation framework. In this framework, feasible motion trajectory is derived through investigating dynamic constraints and kernel control indexes that underlie the underactuated dynamics. Due to the underactuated nature of the capsule system, the global motion dynamics cannot be directly controlled....