Optimal sliding mode control of electromagnetic worm-like locomotion systems for in-pipe robots

This paper considers the novel type of electromagnetic worm-like locomotion systems (EMWLLS) for in-pipe robots. A distinctive feature of the novel EMWLLS is the presence of a single-winding electromagnet for the oscillations excitation in two mutually orthogonal directions. Two problems limit the r...

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Bibliographic Details
Published in:International journal of dynamics and control 2023-02, Vol.11 (1), p.324-337
Main Authors: Xiao, Lingfei, Sattarov, Robert R., Zhu, Yue, Huang, Xinhao
Format: Article
Language:English
Subjects:
Closed loops
Complexity
Control
Control and Systems Theory
Control methods
Dynamical Systems
Electromagnets
Energy consumption
Engineering
Feedback control
Locomotion
Multiple objective analysis
Optimization
Pipes
Robot dynamics
Robots
Robust control
Sliding mode control
Tracking control
Tracking errors
Vibration
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Summary:This paper considers the novel type of electromagnetic worm-like locomotion systems (EMWLLS) for in-pipe robots. A distinctive feature of the novel EMWLLS is the presence of a single-winding electromagnet for the oscillations excitation in two mutually orthogonal directions. Two problems limit the real-world application of the EMWLLS: (1) the difficulty of forming and maintaining the desired mode in uncertain conditions and (2) increasing the range of movement by reducing energy consumption. A novel multi-objective optimization sliding mode control method is proposed to realize the robust and energy-effective tracking control of EMWLLS in uncertain conditions. To minimize both the tracking error and the energy consumption, the grey wolf optimizer is used to optimize the designable parameters in the sliding mode controller. Based on Lyapunov stability, robust stability is proven, and a sufficient condition is given to guarantee that the closed-loop system is robustly stable. The developed robust control methods have been tested in numerical simulation. The simulation results verify the effectiveness of the developed control method on EMWLLS for in-pipe robots.
ISSN:2195-268X
2195-2698
DOI:10.1007/s40435-022-00972-y