This paper presents a Fuzzy+PID control method for a Bridge Inspection Robot(BIR)
system. The BIR has been developed with the aim of checking the safety status of
a real bridge, gathering accurate data and performing maintenance. The developed
robot system is composed of the specially designed car for bridge inspection,
the guide rail and the inspection robot. The proposed Fuzzy+PID controllers are
used to track speed reference signal of X axis and position reference signal of
Z axis. Experimental results verify that the proposed Fuzz+PID control design
method can achieve favorable control performance with regard to external disturbance.