Smart Climbing Mirror Cleaning Robot Using Hybrid Fuzzy-PID Control based on Pneumatic System

Abstract

This paper presents the combination of an intelligent fuzzy logic control and robotic technologies for developing an exterior climbing mirror cleaning robot based on pneumatic system in the advance fields of high building mirror cleaning robot technology. The typical pneumatic system is controlled by ON/OFF directional valve control that gives usually uncertain response both in the terms of position and velocity control and also low accuracy in the moving and holding force control because of its nonlinearity and uncertainty of pneumatic system. The fuzzy logic with proportional plus derivative plus integral control (fuzzy-PID) presented in this paper will improve the drawbacks and weak points of the ON/OFF valve control such that it becomes a continuous valve control which enhances the overall performance of the system in the same time. The stability of climbing robot that is moving along any slope angles of mirror glass surface depends on the holding force, suction cup parameters and pneumatic piston cylinder control that must be suitably designed and mainly realized. More safety factors for high air-pressure supply in the case of high building include winding force, gravity force and other environmental effects. The experimental results show that the fuzzy-PID control with pneumatic solenoid and directional valves control gives more satisfactory responses in the terms of settling time and steadystate error. The significant improvement of the position response and nonlinear or dynamic performance of pneumatic piston system is carried out both in Matlab simulation program and tests at laboratory room. The results are better than ON/OFF valve control and conventional PID control. Finally, the robot can climb very well on any slope angles of mirror surface that are less than 90 degree while the cleaning mechanism can work well as design concept. The future work will further improve the system performance of climbing robot for more safety, stability and reliability in the case of vertical slope situation that depends on the wet glass surface and more winding force effect.