Dynamic characteristics and control of capsule robot system

The vibro‐impact system is a classical non‐smooth dynamical system characterized by the coupled effects of two fundamental non‐smooth factors: vibration and dry friction, which collectively induce highly complex nonlinear dynamic behaviors. This system exhibits diverse dynamic patterns including periodic motions, chaotic states, and bifurcation phenomena, while showing remarkable sensitivity to initial conditions. This study presents a systematic dynamic analysis of the system and proposes an innovative tracking control strategy. The proposed method enables desired transitions between multiple attractors under arbitrary initial conditions without requiring system parameter adjustments. Stability analysis criteria for the system are established based on Lyapunov stability theory. Numerical simulations ultimately validate the effectiveness of the proposed feedback control architecture.