Hybrid model predictive control of legless piezo capsubot

In this paper, the hybrid modeling and predictive control of capsule robot (capsubot) systems are presented. First, the corresponding nonlinear state space equations are obtained from capsubot dynamics. Then, these state space equations are converted to a Piece-Wise Affine (PWA) system which is a class of hybrid systems. Next, this system is transformed to a Mixed Logical Dynamical (MLD) framework by defining binary variables representing the switching rules. At last, a Model Predictive Control (MPC) scheme is designed for this framework using a quadratic cost function resulting in a Mixed-Integer Quadratic Programming (MIQP). MPC approach excels other approaches due to its superiority in control of multivariable systems, unstable systems, non-minimum phase (NMP) systems, and systems with long delay. The main reason motivating us to use MPC for capsubot dynamics is its capability of handling constraints while reaching a desired performance. Simulation results illustrate the effectiveness of the proposed control approach.

[1]  Hongnian Yu,et al.  A novel acceleration profile for the motion control of capsubots , 2011, 2011 IEEE International Conference on Robotics and Automation.

[2]  Farzaneh Abdollahi,et al.  Mobile robots cooperative control and obstacle avoidance using potential field , 2011, 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

[3]  A. Bemporad,et al.  Model Predictive Control Design: New Trends and Tools , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[4]  Hongnian Yu,et al.  Variable structure control of a capsule robot system , 2009, 2009 International Conference on Networking, Sensing and Control.

[5]  Jun Ishikawa,et al.  Positioning control of a capsule robot using sliding mode control , 2009, 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[6]  B. Schutter,et al.  On the equivalence of classes of hybrid dynamical models , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[7]  Yang Liu,et al.  Analysis and Control of a Capsubot , 2008 .

[8]  Hongnian Yu,et al.  An Iterative Learning Control Scheme for the Capsubot , 2008 .

[9]  Joachim Müller,et al.  A path following algorithm for mobile robots , 2010, Auton. Robots.

[10]  Farzaneh Abdollahi,et al.  A synchronization strategy for three dimensional decentralized formation control of unmanned aircrafts , 2011, IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society.

[11]  Alberto Bemporad,et al.  Control of systems integrating logic, dynamics, and constraints , 1999, Autom..

[12]  Hongnian Yu,et al.  Model Predictive Control Applied into Time Delay Capsubot System , 2009, 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics.

[13]  Brian W. Kernighan,et al.  AMPL: A Modeling Language for Mathematical Programming , 1993 .