교량 탐사 로봇을 위한 Sliding Mode 제어를 기반으로 한 PID제어기

Abstract

This paper presents a robust controller In order to handle the guide rail vibrations of Bridge Inspection System. While a Bridge Inspection Robot moves on guide rails with vibration by weight occurs. Therefore, Guide rail as structure like cantilever beam appears vibration by weight of Bridge Inspection Robot. The Z axis of Bridge Inspection Robot operates with Scissors structure. Bridge Inspection Robot is used PID Controller based on Sliding Mode control for position control with Z axis. At the result of, this paper is applied to simulation about position control regarding vibration to occur with Z axis.