Control of In-pipe Inspection Robot based on Adaptive Fuzzy Sliding Mode Model for Motion through Pipeline Fittings

The objective of this paper is to propose a control algorithm for robot locomotion during pipeline inspection through complex underground sections, such as pipeline fittings. Furthermore, the approach addresses uncertain operating conditions during the robot’s locomotion, ensures robustness behaviour, and establishes relationships between variables from the robot’s mathematical model—concerning its contact with the pipeline—and motion-related variables, using fuzzy logic rules. The proposed algorithm is based on the Adaptive Fuzzy Sliding Mode Controller (AFSMC). It consists of three major parts: the equivalent control block, the supervisory fuzzy controller, and the fuzzy control block integrated with a PID controller. Simulation of influential variables was conducted using MATLAB and MATLAB Simulink.