Abstract
In this paper, worm-like locomotion system (WLLS) for in-pipe robots is considered, and a novel fuzzy sliding mode controller is designed for the velocity tracking problem in the WLLS. Because of the strong nonlinearity, an estimator for a friction force is created and it is used in the construction of the sliding mode controller. A sliding mode surface is provided based on the tracking error of the longitudinal displacement and a center of mass velocity. Fuzzy rule is formed to tuning one of the sliding mode designable parameters. Simulation results verify the effectivity of the presented fuzzy sliding mode control method.
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