Nonlinear Robust Adaptive Optimal Speed Controller for the Pipe Crawling Robot

Speed control of pipeline crawling robots is crucial for performing inspection work. In the traditional proportion and integral control method, the control characters of the pipe crawling robot speed control system is influenced by the parameter uncertainty and the outer disturbance. Based on the adaptive back-stepping design and the nonlinear linear matrix inequality theorem, a new nonlinear robust adaptive optimal speed control algorithm is proposed. On the load impact state, the simulation experiment is conducted. Simulation results proved that the speed stabilization time is shortened, the speed fluctuation and the overshoot of the speed signal is reduced, which is important for the pipe crawling robot moving.