Research on Intelligent Control of Pipe Dredging Robot
- DOI
- 10.2991/iiicec-15.2015.465How to use a DOI?
- Keywords
- dredging robot; adaptive control; extension transformation; compliance control
- Abstract
Drainpipe transports the production waste water and life waste water in modern urban infrastructure, due to its small branch pipe diameter, it is easy to foul, if not desilting in time will result in overflow of sewage, which not only seriously affect city's appearance, but also cause environmental pollution. The operating environment in underground drainpipe is usually more extreme and complicated or that human can not adapt to an environment, therefore, drainpipe desilting is an extremely important and heavy work. Many problems of pipe dredging robot on adaptive control for complex situation need to be solved. In this paper, based on the analysis of traditional intelligent control methods and comparison of principle of adaptive control and extension control, a new intelligent method - "extension and adaptive control" was established combining adaptive control with extension control. Extension and adaptive controller and compliance control planning are formed and used in the control system of drainpipe dredging robot, improves its level of intelligence, offers the theoretical foundation for the application of this control method. Results show this method has better adaptability to environment than the traditional adaptive control in driven control of drainpipe dredging robot.
- Copyright
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Xiaomei Jiang AU - Yannian Rui PY - 2015/03 DA - 2015/03 TI - Research on Intelligent Control of Pipe Dredging Robot BT - Proceedings of the 2015 International Industrial Informatics and Computer Engineering Conference PB - Atlantis Press SP - 2140 EP - 2143 SN - 2352-538X UR - https://doi.org/10.2991/iiicec-15.2015.465 DO - 10.2991/iiicec-15.2015.465 ID - Jiang2015/03 ER -