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For non-contact drive of capsule micro robot in bending intestine, we propose a technical scheme in which three axis orthogonal square Helmholtz coils are employed to generate a spatial universal outer rotating uniform magnetic field using magnetic field superposition principle. For their optimization design, electromagnetic mathematical model of the three(More)
— This paper is concerned with uncertain systems subject to periodic disturbances with a known period, and the discrete-time variable structure repetitive control methodology is applied to address the control problem. The notion of quasi-sliding mode is reviewed in this paper. Switching-function dynamics obtained with the proposed repetitive strategies are(More)
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