Movement Control and Attitude Adjustment of Climbing Robot on Flexible Surfaces

	Movement Control and Attitude Adjustment of Climbing Robot on Flexible Surfaces
	Xinyu Wu; Jia Liu; Yimin Zhou; Qin Lv; Chaofang Hu
刊名	IEEE Transactions on Industrial Electronics
	2018
文献子类	期刊论文
英文摘要	In this paper, a series of control algorithms have been designed for the climbing cloth robot, “Clothbot” to climb vertically. The developed algorithm consists of three parts: a sliding mode control with integral action (SMC with integral action), a linear quadratic regulator, and dead reckoning for semi-autonomous navigation. First, the SMC with integral action is developed for high-precision position tracking and speed tracking of the permanent magnet direct current (PMDC) motor installed on the robot. The error between the expected velocity and the actual velocity of the PMDC motor is adopted to design the sliding surface. In order to compensate the fluctuation of the load torque due to the varied friction during climbing, an observer is formulated to estimate the load torque in real-time. Second, the LQR is employed for attitude adjustment by an active torque so as to prevent the robot from falling or being jammed during the movement. Third, due to the onboard-limited energy, the robot is just equipped with semi-autonomous navigation named dead reckoning carrying on primary localization and primary path planning. Experiments are performed to verify the efficacy of the proposed control algorithms.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/11733]
专题	深圳先进技术研究院_集成所
作者单位	IEEE Transactions on Industrial Electronics
推荐引用方式 GB/T 7714	Xinyu Wu,Jia Liu,Yimin Zhou,et al. Movement Control and Attitude Adjustment of Climbing Robot on Flexible Surfaces[J]. IEEE Transactions on Industrial Electronics,2018.
APA	Xinyu Wu,Jia Liu,Yimin Zhou,Qin Lv,&Chaofang Hu.(2018).Movement Control and Attitude Adjustment of Climbing Robot on Flexible Surfaces.IEEE Transactions on Industrial Electronics.
MLA	Xinyu Wu,et al."Movement Control and Attitude Adjustment of Climbing Robot on Flexible Surfaces".IEEE Transactions on Industrial Electronics (2018).