TY - GEN
T1 - An LQR-assisted control algorithm for an under-actuated in-pipe robot in water distribution systems
AU - Kazeminasab, Saber
AU - Jafari, Roozbeh
AU - Banks, M. Katherine
N1 - Publisher Copyright:
© 2021 Owner/Author.
PY - 2021/3/22
Y1 - 2021/3/22
N2 - To address the operational challenges of in-pipe robots in large pipes of water distribution systems (WDS), in this research, a control algorithm is proposed for our previously designed robot [4]. Our size adaptable robot has an under-actuated modular design that can be used for both leak detection and quality monitoring. First, nonlinear dynamical governing equations of the robot are derived with the definition of two perpendicular planes and two sets of states are defined for the robot for stabilization and mobilization. For stabilization, we calculated the auxiliary system matrices and designed a stabilizer controller based on the linear quadratic regulator (LQR) controller, and combined it with a proportional-integral-derivative (PID) based controller for mobilization. The controller scheme is validated with simulation in MATLAB in various operation conditions in three iterations. The simulation results show that the controller can stabilize the robot inside the pipe by converging the stabilizing states to zero and keeping them in zero with initial values between -25° and +25° and tracking velocities of 10cm/s, 30cm/s, and 50cm/s which makes the robot agile and dexterous for operation in pipelines.
AB - To address the operational challenges of in-pipe robots in large pipes of water distribution systems (WDS), in this research, a control algorithm is proposed for our previously designed robot [4]. Our size adaptable robot has an under-actuated modular design that can be used for both leak detection and quality monitoring. First, nonlinear dynamical governing equations of the robot are derived with the definition of two perpendicular planes and two sets of states are defined for the robot for stabilization and mobilization. For stabilization, we calculated the auxiliary system matrices and designed a stabilizer controller based on the linear quadratic regulator (LQR) controller, and combined it with a proportional-integral-derivative (PID) based controller for mobilization. The controller scheme is validated with simulation in MATLAB in various operation conditions in three iterations. The simulation results show that the controller can stabilize the robot inside the pipe by converging the stabilizing states to zero and keeping them in zero with initial values between -25° and +25° and tracking velocities of 10cm/s, 30cm/s, and 50cm/s which makes the robot agile and dexterous for operation in pipelines.
KW - in-pipe robots
KW - linear quadratic regulator (LQR)
KW - proportional-integral-derivative (PID)
KW - stabilizer
KW - velocity tracking controller
KW - water distribution systems
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U2 - 10.1145/3412841.3442097
DO - 10.1145/3412841.3442097
M3 - Conference contribution
AN - SCOPUS:85105021845
T3 - Proceedings of the ACM Symposium on Applied Computing
SP - 811
EP - 814
BT - Proceedings of the 36th Annual ACM Symposium on Applied Computing, SAC 2021
PB - Association for Computing Machinery
T2 - 36th Annual ACM Symposium on Applied Computing, SAC 2021
Y2 - 22 March 2021 through 26 March 2021
ER -