This paper presents an optimal control method based on control effort minimization for a legless piezo capsubot. The capsubot is an underactuated nonlinear dynamics and divided an optimal controller minimizing energy consumption. In the a four‐step strategy for inner mass of the capsubot is proposed. Then, based on the proposed motion strategy, a trajectory prole is given. Using this trajectory prole, the capsubot moves in the desired direction. To evaluate the performance of the proposed control scheme, a comparative study has been performed by means of simulation. Simulation results show that the proposed approach is promising as compared to the Open‐Loop Control (OLC) approach widely
