Development and Fuzzy Control of a Pipe Inspection Robot

被引：50
作者：
Huang, Han-Pang [1 ]
Yan, Jiu-Lou [1 ]
Cheng, Teng-Hu [1 ]
机构：
[1] Natl Taiwan Univ, Dept Mech Engn, Taipei 10617, Taiwan
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2010年 / 57卷 / 03期
关键词：
Fuzzy control; modular design; pipe inspection robot; INDUCTION-MOTOR; REALIZATION; DESIGN;
D O I：
10.1109/TIE.2009.2031671
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new pipe inspection robot, called the National Taiwan University (NTU) Navigator, is described in this paper. The NTU Navigator is lightweight, modularly designed, and easily manipulated and repaired. The robot consists of camera, steering, driving, and functional mechanism modules. Each module has its own control circuit and functions. In addition, a new stretch mechanism is designed and optimized in order to adapt the robot to pipes of various radii. The robot can be easily controlled using GUI on a PC. A stable and smooth fuzzy steering controller for operating inside the pipes is constructed. The stability and performance of the fuzzy controller are shown and compared with both the conventional proportional-integral-derivative controller and the flatness-based controller. Simulations and experiments further justify the performance of the NTU Navigator.
引用
收藏
页码：1088 / 1095
页数：8
相关论文
共 26 条
  • [1] ANDERSON GL, 1993, P IFAC INT AUT VEH, P239
  • [2] AOYAGI S, 1991, INT J JPN S PREC ENG, V25, P233
  • [3] Design of embedded DSP-based fuzzy controllers for autonomous mobile robots
    Baturone, Iluminada
    Moreno-Velo, Francisco J.
    Blanco, Victor
    Ferruz, Joaquin
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2008, 55 (02) : 928 - 936
  • [4] A 2 DoF servomotor-based module for pipe inspection modular micro-robots
    Brunete, A.
    Gambao, E.
    Torres, J. E.
    Hernando, M.
    [J]. 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 1329 - +
  • [5] PASSIVITY, FEEDBACK EQUIVALENCE, AND THE GLOBAL STABILIZATION OF MINIMUM PHASE NONLINEAR-SYSTEMS
    BYRNES, CI
    ISIDORI, A
    WILLEMS, JC
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1991, 36 (11) : 1228 - 1240
  • [6] Some remarks on the stability of Mamdani fuzzy control systems
    Calcev, G
    [J]. IEEE TRANSACTIONS ON FUZZY SYSTEMS, 1998, 6 (03) : 436 - 442
  • [7] Augmented stable fuzzy control for flexible robotic arm using LMI approach and neuro-fuzzy state space modeling
    Chatterjee, Amitava
    Chatterjee, Ranajit
    Matsuno, Fumitoshi
    Endo, Takahiro
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2008, 55 (03) : 1256 - 1270
  • [8] CHOI C, 2006, P SICE ICASE INT JOI, P1285
  • [9] CHOI HR, 2001, MECHATRONICS, V12, P731
  • [10] FUJIWARA S, 1993, IROS 93 : PROCEEDINGS OF THE 1993 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOL 1-3, P509, DOI 10.1109/IROS.1993.583154
123