Climbing with Robots: A Second Order Controller Design for Accurate Wheel Motion Positioning

Çukurova Üniversitesi Mühendislik Fakültesi dergisi, cilt.39, sa.1, ss.175-187, 2024 (Hakemli Dergi)

Climbing robots have become increasingly important for applications such as inspection, maintenance, and

search and rescue in complex environments. This study presents studies on the design of a climbing robotic

prototype that utilizes magnetic wheels for wall attachment and model-based control using algebraic

second-order regulators for robust, accurate and fast positioning. The control approach uses the dynamics

of the driving system with DC motors subject to high disturbance, including real physical constraints such

as Coulomb friction, magnetic forces, and gravity. This controller uses pre-generated soft inputs in the form

of high-order Bezier curves to reduce stall motor torques. Simulations of the robotic system's dynamic

models were conducted using MATLAB, and experimental validation of the model-based control method

was performed. The study validates the use of algebraic second-order controllers for monophasic DC

motors to control the positioning of a climbing system subjected to high perturbations.