Force Tracking Adaptive Impedance Controller Based on Disturbance Observer for Building Cleaning Robot

......................................................................................... i

[1]  Jingqing Han,et al.  From PID to Active Disturbance Rejection Control , 2009, IEEE Trans. Ind. Electron..

[2]  J.K. Tar,et al.  A Survey of Technologies for Climbing Robots Adhesion to Surfaces , 2008, 2008 IEEE International Conference on Computational Cybernetics.

[3]  Chang-Soo Han,et al.  A survey of climbing robots: Locomotion and adhesion , 2010 .

[4]  Jongwon Kim,et al.  Position-based impedance control for force tracking of a wall-cleaning unit , 2016 .

[5]  Karsten Berns,et al.  Climbing robots for maintenance and inspections of vertical structures - A survey of design aspects and technologies , 2013, Robotics Auton. Syst..

[6]  Toshio Fukuda,et al.  A new nonlinear robust disturbance observer , 2000 .

[7]  Manuel A. Armada,et al.  Climbing cleaning robot for vertical surfaces , 2009, Ind. Robot.

[8]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[9]  Taegyun Kim,et al.  Development of a wall-climbing platform with modularized wall-cleaning units , 2017 .

[10]  Han Ho Choi,et al.  LMI-Based Sliding Surface Design for Integral Sliding Mode Control of Mismatched Uncertain Systems , 2007, IEEE Transactions on Automatic Control.

[11]  Hwa Soo Kim,et al.  Design and Force-Tracking Impedance Control of a 2-DOF Wall-Cleaning Manipulator Using Disturbance Observer and Sliding Mode Control , 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

[12]  M. Tomizuka,et al.  Design of Robustly Stable Disturbance Observers Based on Closed Loop Consideration Using H ∞ Optimization and its Applications to Motion Control Systems , 2004 .

[13]  Qingsong Xu,et al.  Adaptive Discrete-Time Sliding Mode Impedance Control of a Piezoelectric Microgripper , 2013, IEEE Transactions on Robotics.

[14]  T. Kim,et al.  Adaptive impedance control of a cleaning unit for a novel wall-climbing mobile robotic platform (ROPE RIDE) , 2014, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[15]  E. Gambao,et al.  Control System for a Semi-automatic Façade Cleaning Robot , 2006 .