Adaptive Force/Motion Control System Based on Recurrent Fuzzy Wavelet CMAC Neural Networks for Condenser Cleaning Crawler-Type Mobile Manipulator Robot

In this paper, an adaptive motion/force control system is proposed for condenser cleaning crawler-type mobile manipulator robot (CCCMMR). With the merits of recurrent fuzzy wavelet cerebellar model articulation control neural networks, the unknown dynamics and parameter variations of the CCCMMR control system are relaxed by an approximation process. In addition, an adaptive robust compensator is also proposed to eliminate uncertainties that consist of the unknown approximation errors and disturbances. According to the adaptive position tracking control design, we develop an adaptive robust control strategy for the nonholonomic constraint force of the CCCMMR. The design of the adaptive online learning algorithms is derived using the Lyapunov stability theorem. Therefore, the proposed controllers prove that they not only can guarantee the stability and robustness, but also the tracking performances of the CCCMMR control system. The effectiveness and robustness of the proposed control system are verified by comparative simulation and experimental results.

I. Introduction

The CLEANING crawler-type mobile manipulator robot (CCCMMR) system is a product of the research and development project (in the field of cleaning robot) in our laboratory during the past few years. It is the autonomous robot with an online/offline ability to work. The condenser is the vital equipment in a variety of applications in industrial sectors, such as power/nuclear plants, thermal electricity plants, and other industrial plants. The condenser pipes are applied in the cooling system with the heat exchanger sections. The heat exchanger sections play the role in improving the thermal efficiency of the heating cycle. When operation time increases, the condensers will be affected, and they accumulate large amounts of dirt, which will not stop rising. This problem reduces the thermal efficiency of the heating cycle and even causes rusty of the condenser pipes. Therefore, the research on the condenser-cleaning robot has attracted attention from researchers in recent years [1]–[4]. In this paper, the position tracking and force control of the CCCMMR shall be discussed. Fig. 1 shows the CCCMMR control system. Fig. 1.

CCCMMR control system.