An Iterative Learning Control Scheme for the Capsubot

A Capsubot, which consists of three parts, the inner body, the capsule shell, and the driving mechanism, is a micro capsule robot with no legs and no wheels, and is driven by the interactive propulsion between the inner body and the capsule shell. The desired locomotion of the Capsubot is generated by making the inner body track a designed trajectory repeatedly. Due to the nature of repetitive motion, an iterative learning control scheme is proposed to improve the tracking performance of the inner body, in order to achieve the desired locomotion of the Capsubot. Extensive simulation studies are conducted to demonstrate the effectiveness of the scheme.