Movement Control and Attitude Adjustment of Climbing Robot on Flexible Surfaces
文献类型：期刊论文
| 作者 | Xinyu Wu; Jia Liu; Yimin Zhou; Qin Lv; Chaofang Hu |
| 刊名 | IEEE Transactions on Industrial Electronics
 |
| 出版日期 | 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 |
| 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). |
入库方式： OAI收割
来源：深圳先进技术研究院
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