Slip Compensation Fuzzy Control of Double Propeller Wheeled Wall-Climbing Robot for Trajectory Tracking

Reverse thrust adhesion wheeled wall climbing robots(WWCRs) have received widespread attention because of their fast moving speed and adaptability to wall environments with certain obstacle crossing performances. However, the inevitable slippage of the wheel walking on the wall makes it easy for the robot to shift the target trajectory during the movement, which makes it difficult to achieve precise positioning and causes unnecessary time and energy loss and may even trigger safety accidents caused by the robot slipping from high altitude. To address the above problems, this paper studies the wall motion of the double propeller wheeled wall-climbing robot DP-Climb based on the moth and gecko climbing mechanism, and analyzes the motion characteristics of each wheel. The robot slip situation on the different roughness wall surfaces was simulated, the slip dynamics model of DP-Climb was established, the robot aerodynamic characteristic measurement platform was designed to verify the performance of the robot rotor unit, and the fuzzy control strategy was proposed to reduce the longitudinal wall slip. The simulation and experimental results are similar to show that the fuzzy control system with slip compensation term makes the system stability better. Compared with the controller without slip compensation, the track tracking accuracy of the robot with control strategy proposed can be significantly improved.