Novel MIMO 4-DOF position control for capsule endoscope

Ibrahim K. Mohammed, Bayan S. Sharif, Jeffrey A. Neasham, Damian Giaouris

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

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.

Original languageBritish English
Title of host publication2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011
Pages909-912
Number of pages4
DOIs
StatePublished - 2011
Event2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011 - Rio de Janeiro, Brazil
Duration: 15 May 201118 May 2011

Publication series

NameProceedings - IEEE International Symposium on Circuits and Systems
ISSN (Print)0271-4310

Conference

Conference2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011
Country/TerritoryBrazil
CityRio de Janeiro
Period15/05/1118/05/11

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