A Non-plane Motion Control Method for Aircraft Skin Inspection Robots

JIANG Junjun; WANG Congqing; WU Xuewei

doi:10.3969/j.issn.1671-637x.2018.12.017

[1] 【1】BRIONES L, BUSTAMANTE P, SERNA M A.Wall-climbing robot for inspection in nuclear power plants［C］//Proceedings of the IEEE International Conference on Robotics and Automation, 1994.doi: 10.1109/ROBOT.1994.351292.

[3] SHANG J Z, SATTAR T, CHEN S W, et al.Design of a climbing robot for inspecting aircraft wings and fuselage［J］.Industrial Robot: An International Journal, 2007, 34(6): 495-502.

[4] YANAGIDA T, MOHAN R E, PATHMAKUMAR T, et al.Design and implementation of a shape shifting rolling-crawling-wall-climbing robot［J］.Applied Sciences, 2017, 7(4): 342-362.

[5] LI J, WANG X S.Novel omnidirectional climbing robot with adjustable magnetic adsorption mechanism［C］//The 23rd International Conference on Mechatronics and Machine Vision in Practice, 2016.doi: 10.1109/M2VIP.2016. 7827289.

[6] LUK B L, COLLIE A A, BILLINGSLEY J.Robug II: an intelligent wall climbing robot［C］//Proceedings of IEEE International Conference on Robotics and Automation, 1991.doi: 10.1109/ROBOT.1991.131752.

[7] RACHKOV M, MARQUES L, ALMEIDA A T D.Climbing robot for porous and rough surfaces［C］//The 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2002: 1-8.

[8] TANAKA Y, NOZAKI K, LOI K.Motion control of a wall climbing robot with coaxial propeller thruster［C］//The 2nd IEEE International Conference on Intelligent Transportation Engineering, 2017: 360-364.

[9] GAO H B, SONG X G, DING L, et al.Adaptive motion control of wheeled mobile robot with unknown slippage［J］.International Journal of Control, 2014, 87(8): 1513-1522.

[10] TAN K K, LIM S Y, HUANG S N.Two-degree-of-freedom controller incorporating RBF adaptation for precision motion control applications［C］//IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 1999: 848-853.

[11] TAN K K, HUANG S N, DOU H F, et al.Adaptive robust motion control for precise trajectory tracking applications［J］.ISA Transactions, 2001, 40(1): 57-71.

[12] MAN Z H, YU X H, ESHRAGHIAN K, et al.A robust adaptive sliding mode tracking control using an RBF neural network for robotic manipulators［C］//Proceedings of International Conference on Neural Networks, 1995: 2403-2408.

[13] WU X Y, LIU J, ZHOU Y M, et al.Movement control and attitude adjustment of climbing robot on flexible surfaces［J］.IEEE Transactions on Industrial Electro-nics, 2018, 65(3): 2618-2628.

[15] WAI R J, MUTHUSAMY R.Fuzzy-neural-network inhe-rited sliding-mode control for robot manipulator including actuator dynamics［J］.IEEE Transactions on Neural Networks and Learning Systems, 2013, 24(2): 274-287.

[16] YUE M, ZHANG Y S.Load observer-based integral sliding mode trajectory tracking control of shield automatic tunnelling via hyperbolic tangent function［J］.International Journal of Modelling Identification and Control, 2016, 25(2): 111-118.