On the Optimal Adhesion Control of a Vortex Climbing Robot

Abstract This article tackles the challenge of negative pressure adhesion control a Vortex Robotic (VR) platform, which utilizes modified Electric Ducted Fan (EDF)-based design for successfully adhering to surfaces variable curvature. The resulting Actuation (VA) system is estimated through switching Autoregressive-Moving-Average with eXternal input (ARMAX) identification, accurately capturing throttle force relationship throughout its operating range. For safe attachment robot on surface, critical modeled based geometrical properties robotic platform providing required reference forces. Within this work, an explicit controller via use Constraint Finite Time Optimal Control (CFTOC) approach designed in offline manner, results lookup table realization that ensures overall stability all state transitions. In effort further improve tracking response arbitrary setup orientations, scheme extended EMPC framework. frameworks are tested both dynamic simulation and experimental sequences involving: a) rotating test curved surface and, b) locomotion water pipe.