On Control of a Capsubot Robot

This paper has presented a model and motion simulation of one-dimensional planar legless internal force static friction capsubot. The control strategy has been developed to manage the accurate capsubot trajectory tracking using the closed-loop system with a proportional–integral–derivative controller. The controller has been tuned by a particle swarm optimization algorithm. The simulation confirmed the correctness of the proposed four-step motion profile by demonstrating the mobility of the capsubot in the periodic pattern, manifested in fast and slow modes.