Hybrid velocity switching and fuzzy logic control scheme for cable tunnel inspection robot | Zendy

Hua Wu | Zendy; Yanxiong Wu | Zendy; Lingzhi Meng | Zendy; Changan Liu | Zendy; Guotian Yang | Zendy

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Hybrid velocity switching and fuzzy logic control scheme for cable tunnel inspection robot

Author(s) -

Hua Wu,

Yanxiong Wu,

Lingzhi Meng,

Changan Liu,

Guotian Yang

Publication year - 2015

Publication title -

journal of intelligent and fuzzy systems

Language(s) - English

Resource type - Journals

eISSN - 1875-8967

pISSN - 1064-1246

DOI - 10.3233/ifs-151965

Subject(s) - swing , control theory (sociology) , fuzzy logic , robustness (evolution) , robot , computer science , fuzzy control system , electronic stability control , acceleration , engineering , control engineering , control (management) , automotive engineering , artificial intelligence , physics , mechanical engineering , biochemistry , chemistry , classical mechanics , gene

This paper describes a hybrid anti-swing control scheme of an inspection robot in tunnels for power transmission cables. The hybrid control scheme consists of velocity switching and fuzzy logic control, so that the robot can be operated smoothly without causing excessive swings in acceleration or deceleration motion. In order to ensure control system robustness for greatest movement in the tunnel, fuzzy logic control is used for horizontal anti-swing control. Velocity switching is adopted for incline anti-swing control, in order to obtain sufficient damping as well as a fast response. The stability of the hybrid system has been analyzed. The experimental results present the practicability and effectiveness of the proposed method.

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