Two PID-Based Controllers for a tethered Segway on Dome Shaped Structures

The UTDTR Robot is a human inspired robotic platform based on a two-wheeled mobile robot. This robot is designed for the purpose of dome shaped structures inspection and maintenance, and it is a tethered robot to stably climb steep surfaces on the top of dome structures. In this paper analysis and controller design of this robot modelled as a MIMO system is represented in order to provide the desired performance on the operating surface with minimum control effort and complexity. Two PID-based controllers are designed such that the stability and desired performance conditions are obtained. In the first design a fuzzy PID controller with self-tuning scale factors is designed to tune the controller gains is forwarded, while in the second approach a multi model gain scheduling controller based on conventional PID controller is considered. Finally, the effectiveness and simplicity of the proposed controller is verified through simulation, comparing the resulting closed loop transient and steady-state response to that of the previously proposed controllers.