Experimental Evaluation of an Explicit Model Predictive Controller for an Adhesion Vortex Actuated Climbing Robot

Document identifier: oai:DiVA.org:ltu-77811
Access full text here:10.23919/ACC45564.2020.9147658
Keyword: Engineering and Technology, Electrical Engineering, Electronic Engineering, Information Engineering, Robotics, Teknik och teknologier, Elektroteknik och elektronik, Robotteknik och automation, Adhesives, Force, Robot sensing systems, Force measurement, Inspection, Task analysis, Robotics and Artificial Intelligence, Robotik och artificiell intelligens
Publication year: 2020
Relevant Sustainable Development Goals (SDGs):
SDG 9 Industry, innovation and infrastructure
The SDG label(s) above have been assigned by OSDG.ai


This article establishes an Explicit Model Predictive Control (EMPC) scheme for controlling the adhesion of a climbing Vortex Robot (VR). The VR utilizes an Electric Ducted Fan (EDF) as the Vortex Actuator (VA), where the dynamics have been identified via an Autoregressive-Moving-Average with eXternal input (ARMAX) identification scheme. An explicit controller via the use of a Constraint Finite Time Optimal Control (CFTOC) approach is designed in an offline manner and implemented for the case of the VR, where the adhesion reference is provided by a static force model. The presented approach results in a lookup table realization that ensures overall system stability in all state transitions, while being able to accurately control the adhesion force for arbitrary setup orientations. The efficacy of the proposed control scheme is demonstrated through experimental results involving a moving test surface under random inclinations and robot orientations.


Andreas Papadimitriou

Luleå tekniska universitet; Signaler och system
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Georgios Andrikopoulos

Luleå tekniska universitet; Signaler och system
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George Nikolakopoulos

Luleå tekniska universitet; Signaler och system
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