An LQR-assisted control algorithm for an under-actuated in-pipe robot in water distribution systems

Saber Kazeminasab, Roozbeh Jafari, M. Katherine Banks

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 36th Annual ACM Symposium on Applied Computing, SAC 2021
PublisherAssociation for Computing Machinery
Pages811-814
Number of pages4
ISBN (Electronic)9781450381048
DOIs
StatePublished - Mar 22 2021
Event36th Annual ACM Symposium on Applied Computing, SAC 2021 - Virtual, Online, Korea, Republic of
Duration: Mar 22 2021Mar 26 2021

Publication series

NameProceedings of the ACM Symposium on Applied Computing

Conference

Conference36th Annual ACM Symposium on Applied Computing, SAC 2021
CountryKorea, Republic of
CityVirtual, Online
Period3/22/213/26/21

Keywords

  • in-pipe robots
  • linear quadratic regulator (LQR)
  • proportional-integral-derivative (PID)
  • stabilizer
  • velocity tracking controller
  • water distribution systems

ASJC Scopus subject areas

  • Software

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