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Novel MIMO 4-DOF Position Control for Capsule Endoscope

Lookup NU author(s): Ibrahim Mohammed, Professor Bayan Sharif, Professor Jeffrey Neasham, Professor Damian Giaouris


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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.

Publication metadata

Author(s): Mohammed IK, Sharif BS, Neasham JA, Giaouris D

Publication type: Conference Proceedings (inc. Abstract)

Publication status: Published

Conference Name: International Symposium on Circuits and Systems (ISCAS)

Year of Conference: 2011

Pages: 909-912

ISSN: 0271-4302

Publisher: IEEE


DOI: 10.1109/ISCAS.2011.5937714

Library holdings: Search Newcastle University Library for this item

Series Title: IEEE International Symposium on Circuits and Systems

ISBN: 9781424494736