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

Abstract

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.