Control System of an Aerodynamically Adhesive Wall-Climbing Robot

摘要

We consider the control system of an adaptive wall-climbing robot. The robot adheres to the surface aerodynamically using a centrifugal-type pump. A mathematical model of the robot is constructed and its equilibrium conditions on an arbitrarily oriented plane are investigated. In order to optimize the energy consumption, an algorithm of the adaptive control of an aerodynamic pump is proposed. The results are tested experimentally.