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/).

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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  -