Hybrid velocity switching and fuzzy logic control scheme for cable tunnel inspection robot

作者：Wu, Hua^*; Wu, Yan-Xiong; Meng, Ling-Zhi; Liu, Chang-An; Yang, Guo-Tian

来源：Journal of Intelligent and Fuzzy Systems, 2015, 29(6): 2619-2627.

DOI：10.3233/IFS-151965

• Tunnel inspection robot
• anti-swing
• hybrid control
• fuzzy logic
• velocity switching

This paper describes a hybrid anti-swing control scheme of an inspection robot in tunnels for power transmission cables. The hybrid control scheme consists of velocity switching and fuzzy logic control, so that the robot can be operated smoothly without causing excessive swings in acceleration or deceleration motion. In order to ensure control system robustness for greatest movement in the tunnel, fuzzy logic control is used for horizontal anti-swing control. Velocity switching is adopted for incline anti-swing control, in order to obtain sufficient damping as well as a fast response. The stability of the hybrid system has been analyzed. The experimental results present the practicability and effectiveness of the proposed method.

• 出版日期2015
• 单位防灾科技学院; 华北电力大学（保定）; 国网电力科学研究院; 华北电力大学