Innovative active disturbance motion control for an underwater adsorption wall-climbing robot with uncertainties and compensations

The underwater adsorption wall-climbing robot (UAWCR) differs from ground mobile robots in that it is subject to their unique system uncertainties, multi-source disturbances and a specific adsorption-motion coupling mechanism, all of which poses great challenges for accurate control during climbing. Considering the unavailability of precise model parameters, the uncertain with multi-source disturbances and strong nonlinearity in real motion control, this paper proposes a linear active disturbance rejection control method with model compensation (MC-LADRC) method. This strategy integrates the concept of total disturbance and employs a load torque observer to observe disturbances in the omnidirectional wheels motion in real-time. The total disturbance is estimated and eliminated from the system in a manner that allows the MC-LADRC approach to enhance the dynamic performance of the controller. Simulation results demonstrate that the method effectively improves the response speed, control accuracy, and robustness of the motion control for the robot. Additionally, the obtained results from our developed UAWCR are consistent with simulations and show a significant improvement of the motion accuracy, robust over diverse uncertainties and ameliorate smoother continuity during operation.