Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control

Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control

Wall-climbing robots have been well-developed for storage tank inspection. This work presents a backstepping sliding-mode control (BSMC) strategy for the spatial trajectory tracking control of a wall-climbing robot, which is specially designed to inspect inside and outside of cylindrical storage tan...

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Bibliographic Details
Main Authors: Jiameng Xue, Jingyu Chen, Alexsandru Stancu, Xingsong Wang, Jie Li
Format: Article
Language:English
Published: MDPI AG 2023-02-01
Series:Micromachines
Subjects:
tank inspection
climbing robot
positioning
trajectory tracking
backstepping control
sliding-mode control
Online Access:https://www.mdpi.com/2072-666X/14/3/548

Internet

https://www.mdpi.com/2072-666X/14/3/548

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