Auto-Inspection System Using Optimized Fuzzy Sliding Mode Control Strategy for Tunnel Inspection

Cities composed of many mountainous areas necessitate the use tunnels for roads and highways with a potential safety hazard. To determine tunnels, periodic tunnel inspections mainly rely on manual work, which is dangerous slow. Therefore, this paper proposes an auto-inspection system inspection consisting robotic arm, laser sensors, radar to free inspectors from hazardous environments high-intensity work. Based mathematical model in process, sliding mode controller designed optimized fuzzy control hyperbolic tangent functions, used robot first time. The simulation results show that can improve tracking accuracy stability during process compared traditional algorithm. Curved line arch experiment tests demonstrate our automatically inspect tunnel, provides superior performance terms average error decreasing by 37.8% when algorithms. proposed great significance high-precision high-stability unmanned automated inspection.