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

Area of Science:

• Robotics
• Control Systems Engineering
• Mechanical Engineering

Background:

• Wall-climbing robots are crucial for inspecting storage tanks.
• Existing robots require improved spatial trajectory tracking and positioning accuracy.
• Cylindrical environments present unique challenges for robot navigation.

Purpose of the Study:

• To develop a robust control strategy for wall-climbing robots inspecting cylindrical storage tanks.
• To enhance spatial trajectory tracking performance, ensuring smooth and stable operation.
• To address kinematic constraints and magnetic adhesion limitations for precise navigation.

Main Methods:

• A backstepping sliding-mode control (BSMC) strategy is proposed.
• A multisensor-data-fusion positioning method is integrated for accurate localization.
• Kinematics are modeled using a cylindrical coordinate system tailored for curved surfaces.

Main Results:

• Simulations demonstrate the controller's ability to rapidly correct errors and achieve global asymptotic stability.
• Prototype experiments confirm the robot's capacity for high-precision tracking of longitudinal and horizontal trajectories.
• The BSMC strategy effectively manages kinematic constraints and magnetic adhesion.

Conclusions:

• The proposed BSMC strategy significantly improves the spatial trajectory tracking control of wall-climbing robots.
• The developed method ensures stable and precise inspection of cylindrical storage tanks.
• This advancement offers a reliable solution for automated tank inspection robotics.