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The hybrid control scheme consists of velocity switching and fuzzy logic control, so that the robot can be operated smoothly without causing excessive swings in acceleration or deceleration motion. In order to ensure control system robustness for greatest movement in the tunnel, fuzzy logic control is used for horizontal anti-swing control. Velocity switching is adopted for incline anti-swing control, in order to obtain sufficient damping as well as a fast response. The stability of the hybrid system has been analyzed. 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