An optimized PID for legless capsubots using modified imperialist competitive algorithm

This paper presents a PID-controlled closed loop control approach for an endoscopic capsule robot (capsubot). A capsubot is a micro-system technology (MST) device with applications in diagnostics and drug delivery in gastro intestinal (GI) tracking. The proportional, integrative and derivative coefficients of the controller are optimized using a modified imperialist competitive algorithm (ICA) to achieve the desired properties for the controller. Next, simulation is conducted to demonstrate the effectiveness of the proposed approach. The results are compared with those of another theoretical work in the literature.