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As a typical representative of highly nonlinear and multivariable strongly coupled systems, the wall transition actions of the DNPTR are analyzed and planned based on the mechanical structure characteristics. Subsequently, unified kinematic and dynamic models of the bipedal negative\u2010pressure climbing robot are established. To improve the automation and ensure safe, efficient operation of climbing robots, effective trajectory tracking control for the DNPTR is crucial. Addressing challenges such as model parameter uncertainties and external disturbances, this study proposes an adaptive trajectory tracking control method based on a radial basis function neural network. The method integrates a boundary layer with an improved exponential reaching law, forming a non\u2010singular terminal sliding mode control strategy. Using Lyapunov theory, the global asymptotic stability of the system is verified. Both simulation and experimental results demonstrate that this approach achieves faster convergence and effectively suppresses oscillations during trajectory tracking. This research is of practical importance, offering valuable guidance for the design of high\u2010accuracy, robust trajectory\u2010tracking controllers for dual\u2010body climbing robots.<\/jats:p>","DOI":"10.1002\/aisy.202400467","type":"journal-article","created":{"date-parts":[[2025,3,10]],"date-time":"2025-03-10T21:37:48Z","timestamp":1741642668000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Design and Control of Dual\u2010Body Negative Pressure Ground\u2010Wall Transition Robot"],"prefix":"10.1002","volume":"7","author":[{"given":"Huan","family":"Shen","sequence":"first","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"}]},{"given":"Kai","family":"Cao","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"}]},{"given":"Jiajun","family":"Xu","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"}]},{"given":"Wenjun","family":"Yan","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering Changzhou University  Changzhou Jiangsu 213164 China"}]},{"given":"Xuefei","family":"Liu","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"}]},{"given":"Huan","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering Southeast University  Nanjing Jiangsu 210096 China"}]},{"given":"Youfu","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering City University of Hong Kong  Hong Kong, SAR 999077 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6951-5633","authenticated-orcid":false,"given":"Linsen","family":"Xu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering Hohai University  Changzhou 213022 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1905-0564","authenticated-orcid":false,"given":"Aihong","family":"Ji","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"},{"name":"Jiangsu Key Laboratory of Bionic Materials and Equipment Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"},{"name":"State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"}]}],"member":"311","published-online":{"date-parts":[[2025,3,8]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/s42235-022-00189-x"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.3390\/robotics5030014"},{"key":"e_1_2_11_4_1","doi-asserted-by":"crossref","unstructured":"A.Brusell G.Andrikopoulos G.Nikolakopoulos inProc. 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