Design of a new steerable in-pipe inspection robot and its robust control in presence of pipeline flow Article Swipe
H. Tourajizadeh
,
A. Sedigh
,
Vahid Boomeri
,
Mohammad Rezaei
·
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.15282/jmes.14.3.2020.03.0548
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.15282/jmes.14.3.2020.03.0548
Robust multivariable control of an in-pipe inspection robot with variable pitch rate is performed in this paper which moves through the pipelines while fluid is flowing. Most of the traditional inpipe robots have two challenges which make difficulty for investigating the pipe line. The necessity of blocking the flow and difficulty toward bypassing the probable obstacles in the pipes. Here a new mechanism of inpipe robot is proposed which can bypass the obstacles as a result of its mechanism modification and also is able to work in presence of flow by the aid of its designed robust controlled. To meet this goal, the proper mechanism is designed and its related model is derived. Afterwards a nonlinear robust controller is designed and implemented on the proposed robot based on Sliding Mode Control (SMC). The efficiency of the designed robot for bypassing the obstacles and also the robustness of its corresponding controller in presence of flow are investigated by the aid of MATLAB simulation. These simulations are validated by modeling the system in ADAMS and comparing the response of the proposed SMC and Feedback Linearization (FL). It is proved that the designed robot is able to move with controllable velocity through full pipelines while the designed controller can successfully cancel the fluid flow disturbances with a good accuracy of order 10-2.
Related Topics
Concepts
Robot
Robustness (evolution)
Control theory (sociology)
Control engineering
Linearization
Engineering
Robust control
Pipeline transport
Controller (irrigation)
MATLAB
Sliding mode control
Pipeline (software)
Mechanism (biology)
Nonlinear system
Computer science
Control system
Simulation
Artificial intelligence
Control (management)
Mechanical engineering
Quantum mechanics
Physics
Epistemology
Philosophy
Agronomy
Chemistry
Operating system
Gene
Biochemistry
Electrical engineering
Biology
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.15282/jmes.14.3.2020.03.0548
- OA Status
- diamond
- Cited By
- 12
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3090429366
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3090429366Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.15282/jmes.14.3.2020.03.0548Digital Object Identifier
- Title
-
Design of a new steerable in-pipe inspection robot and its robust control in presence of pipeline flowWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2020Year of publication
- Publication date
-
2020-09-29Full publication date if available
- Authors
-
H. Tourajizadeh, A. Sedigh, Vahid Boomeri, Mohammad RezaeiList of authors in order
- Landing page
-
https://doi.org/10.15282/jmes.14.3.2020.03.0548Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
diamondOpen access status per OpenAlex
- OA URL
-
https://doi.org/10.15282/jmes.14.3.2020.03.0548Direct OA link when available
- Concepts
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Robot, Robustness (evolution), Control theory (sociology), Control engineering, Linearization, Engineering, Robust control, Pipeline transport, Controller (irrigation), MATLAB, Sliding mode control, Pipeline (software), Mechanism (biology), Nonlinear system, Computer science, Control system, Simulation, Artificial intelligence, Control (management), Mechanical engineering, Quantum mechanics, Physics, Epistemology, Philosophy, Agronomy, Chemistry, Operating system, Gene, Biochemistry, Electrical engineering, BiologyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
12Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 3, 2024: 1, 2023: 2, 2022: 2, 2021: 4Per-year citation counts (last 5 years)
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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