Title :
Novel MIMO 4-DOF position control for Capsule Endoscope
Author :
Mohammed, Ibrahim K. ; Sharif, Bayan S. ; Neasham, Jeffrey A. ; Giaouris, Damian
Author_Institution :
Sch. of Electr., Electron. & Comput. Eng., Newcastle Univ., Newcastle upon Tyne, UK
Abstract :
In this paper, a novel actuation system for Wireless Capsule Endoscopes (WCE) based on magnetic levitation is proposed. This study focuses on the design of a multi-input, multi-output (MIMO), controller to maintain a desired position and orientation of the capsule relative to the movable electromagnet frame so that it can navigate the intestine by moving this frame and/or the patient. Tracking algorithms for the linear controller based on pole placement, entire eigenstructure assignment (EEA), and linear quadratic regulator (LQR) techniques are designed and simulated using Matlab/Simulink. Simulation results suggest that the LQR controller can be used for capsule actuation.
Keywords :
MIMO systems; eigenstructure assignment; electromagnetic actuators; endoscopes; linear quadratic control; linear systems; magnetic levitation; pole assignment; position control; LQR controller; MIMO 4-DOF position control; Matlab-Simulink; capsule actuation system; capsule orientation; eigenstructure assignment; electromagnet frame; linear controller; linear quadratic regulator technique; magnetic levitation; multiple input multiple output controller; pole placement; tracking algorithm; wireless capsule endoscope; RNA;
Conference_Titel :
Circuits and Systems (ISCAS), 2011 IEEE International Symposium on
Conference_Location :
Rio de Janeiro
Print_ISBN :
978-1-4244-9473-6
Electronic_ISBN :
0271-4302
DOI :
10.1109/ISCAS.2011.5937714
