Tracking Controller Design for Crawling Robot on Airplane Surface
Gao Qing-ji · Journal of Civil Aviation University of China · 2007
A double closed loop trajectory linearization controller(TLC)based on the robot model is designed for a crawling robot on airplane surface.At the same time a logic control method is designed to ensure state-switch when robot kinematics axis dissatisfies holonomic constraints conditions.The method resolved the problem of tracking control for new style crawling robot based on X-Y structure on the special surface of aircraft.Experimental result shows that the controller has valid dynamic performance and meets the challenge of precision in motion and stability in velocity for real-time system.