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Published in:
2016 | OriginalPaper | Chapter
Design of a Stable Controller for the Climbing Robot CREA
Authors : Atabak Nejadfard, Steffen Schütz, Daniel Schmidt, Karsten Berns
Published in: Informatics in Control, Automation and Robotics
Publisher: Springer International Publishing
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Abstract
The Climbing Robot CREA is developed to climb up flat concrete walls. Due to its big size and weight the robot uses the suction system to generate necessary adhesive force. This suction system consists of eleven chambers which are thermodynamically connected to one common reservoir. The robot also uses the wheel-based locomotion which introduces chalenging control dilema when integrating with suction system. This paper addresses these difficulties by introducing new control scheme that is able to reach a satisfactory trade-off between contradictory criteria. An exponentially stable controller is developed for each chamber that engages automatically with wall and generates desired adhesive force with lowest possible friction and influence on other chambers.