Exterior climbing mirror cleaning robot based on hybrid fuzzy-PID and pneumatic control system

Abstract

This paper is conducted to develop an exterior climbing mirror cleaning robot based on pneumatic system with an intelligent fuzzy control scheme called hybrid fuzzy-PID control system. The conventional pneumatic system is controlled by ON/OFF directional valve control that is usually uncertainty correction response and low precision in the terms of position and velocity control because of it nonlinear and uncertainty of pneumatic system. A hybrid of fuzzy and proportional plus derivative plus integral control is presented in this paper that will be implement to enhance the overall performance of the system that dominate play role as a proportional valve control modified from ON/OFF valve control. The stability of moving robot along the mirror glass area in any of slope angle directions on mirror area is depend on the suction cups piston that must be designed for high enough pressure including with winding and gravity effect with safety factor. The results from the experiments are shown that the hybrid fuzzy-PID control with ON/OFF directional valve given the most satisfied settling time and steady-state error both in math lab simulation program and a laboratory room testing that can significant improved the position dynamic response and nonlinear performance of pneumatic piston system better than ON/OFF valve control and conventional PID control. Finally, the robot can climb on the slope of mirror glass area especially in the vertical direction and the cleaning mechanism can work well as design concept.