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Worm-Like Locomotion Systems for In-Pipe Robots and Its Fuzzy Sliding Mode Controller Design

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Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings"

Part of the book series: Smart Innovation, Systems and Technologies ((SIST,volume 187))

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Abstract

In this paper, worm-like locomotion system (WLLS) for in-pipe robots is considered, and a novel fuzzy sliding mode controller is designed for the velocity tracking problem in the WLLS. Because of the strong nonlinearity, an estimator for a friction force is created and it is used in the construction of the sliding mode controller. A sliding mode surface is provided based on the tracking error of the longitudinal displacement and a center of mass velocity. Fuzzy rule is formed to tuning one of the sliding mode designable parameters. Simulation results verify the effectivity of the presented fuzzy sliding mode control method.

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Acknowledgements

This paper is partially supported by National Natural Science Foundation of China (No. 51876089).

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Authors and Affiliations

  1. Electromechanics Department, Ufa State Aviation Technical University, 450008, Ufa, Russia

    Robert Sattarov

  2. College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    Xinhao Huang, Cong Lin & Lingfei Xiao

Authors
  1. Robert Sattarov
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  2. Xinhao Huang
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  3. Cong Lin
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  4. Lingfei Xiao
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Corresponding author

Correspondence to Robert Sattarov .

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Editors and Affiliations

  1. St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Saint Petersburg State University of Aerospace Instrumentation, St. Petersburg, Russia

    Vladislav Shishlakov

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Sattarov, R., Huang, X., Lin, C., Xiao, L. (2021). Worm-Like Locomotion Systems for In-Pipe Robots and Its Fuzzy Sliding Mode Controller Design. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings". Smart Innovation, Systems and Technologies, vol 187. Springer, Singapore. https://doi.org/10.1007/978-981-15-5580-0_3

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