Positioning control of a capsule robot using sliding mode control

In this paper, locomotion of a capsule robot which is also called the Capsubot is studied. The Capsulbot is two-mass system and it moves with no external parts. In the previous our researches for the Capsubot, we have studied to find a proper control input through an optimal control and verified by simulations and experiments. The previous study for the Capsubot, however, was totally based on open-loop control, same results are not guaranteed if the Capsubot is placed in a rough surface condition and circumstance. Then, sliding mode control method is derived in this paper because of its robustness to a parameter changes. The validity of the proposed method is verified by numerical simulations.