Research on Trajectory-Tracking Control System of Tracked Wall-Climbing Robots

Different from the vehicles and robots that move on the ground, complex and nonlinear track-wall interactions bring considerable difficulties to the accurate control of tracked wall-climbing robots due to the effect of gravity and adsorption. In this article, the authors propose a trajectory-trackin...

Full description

Saved in:
Bibliographic Details
Published inSensors (Basel, Switzerland) Vol. 24; no. 1; p. 144
Main Authors Zhang, Haoyan, Wu, Jiaqi, An, Yang, Xie, Pengshu, Cui, Da
Format Journal Article
LanguageEnglish
Published Switzerland MDPI AG 27.12.2023
MDPI
Subjects
Accuracy
Adsorption
Analysis
Climbing
computed-torque control
Control algorithms
Control systems
Controllers
Design
dynamics
fuzzy logic
Gravity
Kinematics
Motion control
Numerical analysis
Pressure distribution
Robotics industry
Robots
Simulation methods
tracked wall-climbing robot
trajectory tracking control
Vehicles
trajectory tracking control
dynamics
computed-torque control
tracked wall-climbing robot
fuzzy logic
Online AccessGet full text

Cover

More Information
Summary:Different from the vehicles and robots that move on the ground, complex and nonlinear track-wall interactions bring considerable difficulties to the accurate control of tracked wall-climbing robots due to the effect of gravity and adsorption. In this article, the authors propose a trajectory-tracking control system for tracked wall-climbing robots based on the fuzzy logic computed-torque control (FLCT) method. A key element in the proposed control strategy is to consider the adsorption force and gravity compensation based on the dynamic model. Validated via numerical simulations and experiments, the results show that the proposed controller can track the reference trajectory quickly, accurately and stably.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:1424-8220
1424-8220
DOI:10.3390/s24010144