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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Micromachines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-666X/14/3/548 |
| _version_ | 1797610084624236544 |
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| author | Jiameng Xue Jingyu Chen Alexsandru Stancu Xingsong Wang Jie Li |
| author_facet | Jiameng Xue Jingyu Chen Alexsandru Stancu Xingsong Wang Jie Li |
| author_sort | Jiameng Xue |
| collection | DOAJ |
| description | 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 tanks. The inspection robot is designed with four magnetic wheels, which are driven by two DC motors. In order to achieve an accurate spatial position of the robot, a multisensor-data-fusion positioning method is developed. The new control method is proposed with kinematics based on a cylindrical coordinate system as the robot is moving on a cylindrical surface. The main purpose is to promote a smooth and stable tracking performance during inspection tasks, under the consideration of the robot’s kinematic constraints and the magnetic restrictions of the adhesion system. The simulation results indicate that the proposed sliding mode controller can quickly correct the errors and global asymptotic stability is achieved. The prototype experimental results further validate the advancement of the proposed method; the wall-climbing robot can track both longitudinal and horizontal spatial trajectories stably with high precision. |
| first_indexed | 2024-03-11T06:10:36Z |
| format | Article |
| id | doaj.art-afe7b5b1b531413280f1b0c52fc285d8 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-11T06:10:36Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-afe7b5b1b531413280f1b0c52fc285d82023-11-17T12:42:21ZengMDPI AGMicromachines2072-666X2023-02-0114354810.3390/mi14030548Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode ControlJiameng Xue0Jingyu Chen1Alexsandru Stancu2Xingsong Wang3Jie Li4College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210003, ChinaSchool of Engineering, The University of Manchester, Manchester M13 9PL, UKSchool of Engineering, The University of Manchester, Manchester M13 9PL, UKSchool of Mechanical Engineering, Southeast University, Nanjing 211189, ChinaCollege of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210003, ChinaWall-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 tanks. The inspection robot is designed with four magnetic wheels, which are driven by two DC motors. In order to achieve an accurate spatial position of the robot, a multisensor-data-fusion positioning method is developed. The new control method is proposed with kinematics based on a cylindrical coordinate system as the robot is moving on a cylindrical surface. The main purpose is to promote a smooth and stable tracking performance during inspection tasks, under the consideration of the robot’s kinematic constraints and the magnetic restrictions of the adhesion system. The simulation results indicate that the proposed sliding mode controller can quickly correct the errors and global asymptotic stability is achieved. The prototype experimental results further validate the advancement of the proposed method; the wall-climbing robot can track both longitudinal and horizontal spatial trajectories stably with high precision.https://www.mdpi.com/2072-666X/14/3/548tank inspectionclimbing robotpositioningtrajectory trackingbackstepping controlsliding-mode control |
| spellingShingle | Jiameng Xue Jingyu Chen Alexsandru Stancu Xingsong Wang Jie Li Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control Micromachines tank inspection climbing robot positioning trajectory tracking backstepping control sliding-mode control |
| title | Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control |
| title_full | Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control |
| title_fullStr | Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control |
| title_full_unstemmed | Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control |
| title_short | Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control |
| title_sort | spatial trajectory tracking of wall climbing robot on cylindrical tank surface using backstepping sliding mode control |
| topic | tank inspection climbing robot positioning trajectory tracking backstepping control sliding-mode control |
| url | https://www.mdpi.com/2072-666X/14/3/548 |
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