Design and Control of an Omnidirectional Mobile Wall-Climbing Robot

Omnidirectional mobile wall-climbing robots have better motion performance than traditional wall-climbing robots. However, there are still challenges in designing and controlling omnidirectional mobile wall-climbing robots, which can attach to non-ferromagnetic surfaces. In this paper, we design a n...

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Autores principales:	Zhengyu Zhong, Ming Xu, Junhao Xiao, Huimin Lu
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	omnidirectional mobile robot wall-climbing robot critical slip state nonlinear model predictive control trajectory tracking Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/90cc5244a6a64090a91c1385fe900053
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spelling	oai:doaj.org-article:90cc5244a6a64090a91c1385fe9000532021-11-25T16:43:36ZDesign and Control of an Omnidirectional Mobile Wall-Climbing Robot10.3390/app1122110652076-3417https://doaj.org/article/90cc5244a6a64090a91c1385fe9000532021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/11065https://doaj.org/toc/2076-3417Omnidirectional mobile wall-climbing robots have better motion performance than traditional wall-climbing robots. However, there are still challenges in designing and controlling omnidirectional mobile wall-climbing robots, which can attach to non-ferromagnetic surfaces. In this paper, we design a novel wall-climbing robot, establish the robot’s dynamics model, and propose a nonlinear model predictive control (NMPC)-based trajectory tracking control algorithm. Compared against state-of-the-art, the contribution is threefold: First, the combination of three-wheeled omnidirectional locomotion and non-contact negative pressure air chamber adhesion achieves omnidirectional locomotion on non-ferromagnetic vertical surfaces. Second, the critical slip state has been employed as an acceleration constraint condition, which could improve the maximum linear acceleration and the angular acceleration by <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>164.71</mn><mo>%</mo></mrow></semantics></math></inline-formula> and <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>22.07</mn><mo>%</mo></mrow></semantics></math></inline-formula> on average, respectively. Last, an NMPC-based trajectory tracking control algorithm is proposed. According to the simulation experiment results, the tracking accuracy is higher than the traditional PID controller.Zhengyu ZhongMing XuJunhao XiaoHuimin LuMDPI AGarticleomnidirectional mobile robotwall-climbing robotcritical slip statenonlinear model predictive controltrajectory trackingTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 11065, p 11065 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	omnidirectional mobile robot wall-climbing robot critical slip state nonlinear model predictive control trajectory tracking Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	omnidirectional mobile robot wall-climbing robot critical slip state nonlinear model predictive control trajectory tracking Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Zhengyu Zhong Ming Xu Junhao Xiao Huimin Lu Design and Control of an Omnidirectional Mobile Wall-Climbing Robot
description	Omnidirectional mobile wall-climbing robots have better motion performance than traditional wall-climbing robots. However, there are still challenges in designing and controlling omnidirectional mobile wall-climbing robots, which can attach to non-ferromagnetic surfaces. In this paper, we design a novel wall-climbing robot, establish the robot’s dynamics model, and propose a nonlinear model predictive control (NMPC)-based trajectory tracking control algorithm. Compared against state-of-the-art, the contribution is threefold: First, the combination of three-wheeled omnidirectional locomotion and non-contact negative pressure air chamber adhesion achieves omnidirectional locomotion on non-ferromagnetic vertical surfaces. Second, the critical slip state has been employed as an acceleration constraint condition, which could improve the maximum linear acceleration and the angular acceleration by <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>164.71</mn><mo>%</mo></mrow></semantics></math></inline-formula> and <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>22.07</mn><mo>%</mo></mrow></semantics></math></inline-formula> on average, respectively. Last, an NMPC-based trajectory tracking control algorithm is proposed. According to the simulation experiment results, the tracking accuracy is higher than the traditional PID controller.
format	article
author	Zhengyu Zhong Ming Xu Junhao Xiao Huimin Lu
author_facet	Zhengyu Zhong Ming Xu Junhao Xiao Huimin Lu
author_sort	Zhengyu Zhong
title	Design and Control of an Omnidirectional Mobile Wall-Climbing Robot
title_short	Design and Control of an Omnidirectional Mobile Wall-Climbing Robot
title_full	Design and Control of an Omnidirectional Mobile Wall-Climbing Robot
title_fullStr	Design and Control of an Omnidirectional Mobile Wall-Climbing Robot
title_full_unstemmed	Design and Control of an Omnidirectional Mobile Wall-Climbing Robot
title_sort	design and control of an omnidirectional mobile wall-climbing robot
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/90cc5244a6a64090a91c1385fe900053
work_keys_str_mv	AT zhengyuzhong designandcontrolofanomnidirectionalmobilewallclimbingrobot AT mingxu designandcontrolofanomnidirectionalmobilewallclimbingrobot AT junhaoxiao designandcontrolofanomnidirectionalmobilewallclimbingrobot AT huiminlu designandcontrolofanomnidirectionalmobilewallclimbingrobot
_version_	1718413031952613376

Design and Control of an Omnidirectional Mobile Wall-Climbing Robot

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