Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application
by Yaser Sabzehmeidani, Musa Mailah, Mohamed Hussein
International Journal of Modelling, Identification and Control (IJMIC), Vol. 13, No. 4, 2011

Abstract: In this paper, a piezo actuated micro robot with active force control (AFC) capability is modelled and simulated for an in-pipe application. A mathematical model that describes the dynamic characteristics of the micro robot is first presented. The dynamic response of the robot system subjected to different input excitations is then investigated by initially considering a conventional proportional-integral-derivative (PID) controller to perform a trajectory tacking task. Subsequently, a robust AFC-based controller is serially added to the PID controller, the primary aim of which is to reject the unwanted disturbances due to frictional forces in the pipe. The control system is tuned so that an accurate trajectory tracking control is achieved. The performance of the control system under different loading and operating conditions is evaluated through a rigorous simulation study. A sliding mode controller (SMC) was also included to provide another means of comparing the system performances apart from the pure PID control scheme. The obtained results clearly demonstrate the robust trajectory tracking performance of the proposed AFC-based micro robot system in spite of the negative effects of the external disturbances.

Online publication date: Sat, 21-Mar-2015

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com