A novel voice-coil actuated mini crawler for in-pipe application employing active force control with iterative learning algorithm

• Main Authors: Sabzehmeidani, Yaser, Mailah, Musa, Tang, H. Hing, Abdelmaksoud, Sherif I.
• Format: Article
• Language: English
• Published: Institute of Electrical and Electronics Engineers Inc. 2021
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/97739/1/MusaMailah2021_ANovelVoiceCoilActuatedMiniCrawler.pdf; http://eprints.utm.my/id/eprint/97739/; http://dx.doi.org/10.1109/ACCESS.2021.3058312

This study proposes the design and development of an in-pipe mini crawler (or robot) capable of performing its various tasks with the ability to reject undesired disturbances resulting from friction and viscosity, as it was modeled, simulated, and experimented using an iterative learning algorithm (...