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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive Control.

Lai Wei¹, Guofei Xiang¹, Congjun Ma¹

¹College of Electrical Engineering, Sichuan University, Chengdu 610065, China.

Sensors (Basel, Switzerland)

|November 25, 2023

Summary

This study introduces a distributed model predictive control (DMPC) for inspection robots in transformers. The DMPC method enhances trajectory tracking accuracy and robustness while simplifying computations for robots in confined spaces.

Keywords:

distributed model predictive control trajectory tracking control underwater robot

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Area of Science:

Robotics
Control Systems Engineering
Mechanical Engineering

Background:

Tracking inspection robot trajectories within transformer oil presents significant challenges.
Existing control methods may lack the precision and efficiency required for confined environments.

Purpose of the Study:

To develop an effective motion control strategy for inspection robots operating inside transformers.
To enhance trajectory tracking accuracy and robustness in challenging underwater environments.
To reduce computational complexity for real-time robot control applications.

Main Methods:

Established robot kinematics and dynamics models in transformer oil using Lagrange equations.
Applied nonlinear model predictive control (NMPC) combined with distributed control theory.
Decoupled robot motion into five independent subsystems for distributed model predictive control (DMPC).

Main Results:

The DMPC-based robot motion control system demonstrated high tracking accuracy.
The system exhibited significant robustness in simulated transformer oil environments.
Reduced computational complexity was achieved compared to traditional control methods.

Conclusions:

The proposed DMPC method offers an effective solution for robot motion control in narrow, fluid-filled environments.
This approach enhances the feasibility of autonomous inspection tasks within complex machinery like transformers.
The DMPC strategy provides a robust and computationally efficient control framework for underwater robotics.