Control of a Path Following Cable Trench Caterpillar Robot Based on a Self-Coupling PD Algorithm

摘要

Underground cable trench inspection robots work in narrow, variable friction coefficient, and complex road environments. The running trajectory easily deviates from the desired path and leads to a collision, or even the destruction of the robot or cable. Addressing this problem, a path-following control method for the dual-tracked chassis robot based on a self-coupling PID (SCPID) control algorithm was developed. The caterpillar robot dynamics were modelled and both the unknown dynamics and external bounded disturbances were defined as sum disturbances, thus mapping the nonlinear system into a linearly disturbed system, then the self-coupling PD (SCPD) controller was designed. The system proved to be a robust stability control system and only one parameter, the velocity factor, needed to be tuned to achieve parameter calibration. Meanwhile, to solve the problem that the error-based speed factor is not universal and to improve the adaptive ability of the SCPD controller, an iterative method was used for adaptive tuning. The simulation results showed that the SCPID can achieve better control. The field test results showed that the SCPD’s maximum offset angle was 56.7% and 10.3% smaller than incremental PID and sliding mode control (SMC), respectively. The inspection time of the SCPD was 20% faster than other methods in the same environment.