{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,7]],"date-time":"2026-02-07T17:52:58Z","timestamp":1770486778178,"version":"3.49.0"},"reference-count":25,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2023,12,27]],"date-time":"2023-12-27T00:00:00Z","timestamp":1703635200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100011789","name":"key research and development project of Science and Technology Department of Jilin Province","doi-asserted-by":"publisher","award":["20230201102GX"],"award-info":[{"award-number":["20230201102GX"]}],"id":[{"id":"10.13039\/501100011789","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100011789","name":"key research and development project of Science and Technology Department of Jilin Province","doi-asserted-by":"publisher","award":["CSTB2022NSCQ-MSX0278"],"award-info":[{"award-number":["CSTB2022NSCQ-MSX0278"]}],"id":[{"id":"10.13039\/501100011789","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005230","name":"Natural Science Foundation of Chongqing","doi-asserted-by":"publisher","award":["20230201102GX"],"award-info":[{"award-number":["20230201102GX"]}],"id":[{"id":"10.13039\/501100005230","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005230","name":"Natural Science Foundation of Chongqing","doi-asserted-by":"publisher","award":["CSTB2022NSCQ-MSX0278"],"award-info":[{"award-number":["CSTB2022NSCQ-MSX0278"]}],"id":[{"id":"10.13039\/501100005230","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Different from the vehicles and robots that move on the ground, complex and nonlinear track\u2013wall interactions bring considerable difficulties to the accurate control of tracked wall-climbing robots due to the effect of gravity and adsorption. In this article, the authors propose a trajectory-tracking control system for tracked wall-climbing robots based on the fuzzy logic computed-torque control (FLCT) method. A key element in the proposed control strategy is to consider the adsorption force and gravity compensation based on the dynamic model. Validated via numerical simulations and experiments, the results show that the proposed controller can track the reference trajectory quickly, accurately and stably.<\/jats:p>","DOI":"10.3390\/s24010144","type":"journal-article","created":{"date-parts":[[2023,12,27]],"date-time":"2023-12-27T02:58:12Z","timestamp":1703645892000},"page":"144","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Research on Trajectory-Tracking Control System of Tracked Wall-Climbing Robots"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-8981-5854","authenticated-orcid":false,"given":"Haoyan","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China"}]},{"given":"Jiaqi","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China"}]},{"given":"Yang","family":"An","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China"}]},{"given":"Pengshu","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China"}]},{"given":"Da","family":"Cui","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,12,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1163\/156855386X00300","article-title":"Design of a robot capable of moving on a vertical wall","volume":"1","author":"Nishi","year":"1986","journal-title":"Adv. Robot."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1288","DOI":"10.1016\/j.robot.2013.09.002","article-title":"Climbing robots for maintenance and inspections of vertical structures\u2014A survey of design aspects and technologies","volume":"61","author":"Schmidt","year":"2013","journal-title":"Robot. Auton. Syst."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"13725","DOI":"10.3390\/s150613725","article-title":"A cross structured light sensor and stripe segmentation method for visual tracking of a wall climbing robot","volume":"15","author":"Zhang","year":"2015","journal-title":"Sensors"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"224","DOI":"10.1016\/j.oceaneng.2017.01.003","article-title":"Design and performance analysis of a tracked wall-climbing robot for ship inspection in shipbuilding","volume":"131","author":"Huang","year":"2017","journal-title":"Ocean Eng."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"178","DOI":"10.1016\/j.rcim.2018.04.008","article-title":"A magnetic climbing robot to perform autonomous welding in the shipbuilding industry","volume":"53","author":"Kermorgant","year":"2018","journal-title":"Robot. Comput.-Integr. Manuf."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Chen, X., Wu, Y., Hao, H., Shi, H., and Huang, H. (2019). Tracked wall-climbing robot for calibration of large vertical metal tanks. Appl. Sci., 9.","DOI":"10.3390\/app9132671"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1053","DOI":"10.1109\/TRO.2020.2973100","article-title":"Hangrawler: Large-payload and high-speed ceiling mobile robot using crawler","volume":"36","author":"Fukui","year":"2020","journal-title":"IEEE Trans. Robot."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"662","DOI":"10.17706\/jcp.14.12.662-679","article-title":"Back-Stepping Fuzzy Adaptive Sliding Mode Trajectory Tracking Control for Wall-Climbing Robot","volume":"14","author":"Xin","year":"2019","journal-title":"JCP"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"589","DOI":"10.1109\/72.701173","article-title":"Control of a nonholonomic mobile robot using neural networks","volume":"9","author":"Fierro","year":"1998","journal-title":"IEEE Trans. Neural Netw."},{"key":"ref_10","unstructured":"Katsuki, Y., Yamamoto, M., and Ikeda, T. (2010). 2010 World Automation Congress, IEEE."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"2030","DOI":"10.1007\/s12206-009-0436-y","article-title":"A path tracking control algorithm for underwater mining vehicles","volume":"23","author":"Hong","year":"2009","journal-title":"J. Mech. Sci. Technol."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1317","DOI":"10.1007\/s12206-018-0236-3","article-title":"Remote control system based on the Internet and machine vision for tracked vehicles","volume":"32","author":"Wang","year":"2018","journal-title":"J. Mech. Sci. Technol."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"102","DOI":"10.1016\/j.robot.2018.09.008","article-title":"Dynamic modeling and trajectory tracking control of unmanned tracked vehicles","volume":"110","author":"Zou","year":"2018","journal-title":"Robot. Auton. Syst."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"329","DOI":"10.5545\/sv-jme.2019.5980","article-title":"Trajectory Tracking Study of Track Vehicles Based on Model Predictive Control","volume":"65","author":"Zhou","year":"2019","journal-title":"Stroj. Vestn. J. Mech. Eng."},{"key":"ref_15","unstructured":"Zhao, Z., Liu, H., Chen, H., Xu, S., and Liang, W. (2019, January 27\u201330). Tracking control of unmanned tracked vehicle in off-road conditions with large curvature. Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"021003","DOI":"10.1115\/1.4042347","article-title":"Active disturbance rejection control for handling slip in tracked vehicle locomotion","volume":"11","author":"Sebastian","year":"2019","journal-title":"J. Mech. Robot."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"104058","DOI":"10.1016\/j.robot.2022.104058","article-title":"ROS-based trajectory tracking control for autonomous tracked vehicle using optimized backstep** and sliding mode control","volume":"152","author":"Sabiha","year":"2022","journal-title":"Robot. Auton. Syst."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"442","DOI":"10.1177\/00202940221122233","article-title":"Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors","volume":"56","author":"Sun","year":"2023","journal-title":"Meas. Control"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1016\/0022-4898(77)90035-0","article-title":"An analysis of horizontal plane motion of tracked vehicles","volume":"14","author":"Kitano","year":"1977","journal-title":"J. Terramech."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1016\/0022-4898(76)90045-8","article-title":"A theoretical analysis of steerability of tracked vehicles","volume":"13","author":"Kitano","year":"1976","journal-title":"J. Terramech."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"343","DOI":"10.1243\/0954407011525683","article-title":"A general theory for skid steering of tracked vehicles on firm ground","volume":"215","author":"Wong","year":"2001","journal-title":"Proc. Inst. Mech. Eng. Part D J. Automob. Eng."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1016\/0022-4898(87)90060-7","article-title":"Prediction of track forces in skid-steering of military tracked vehicles","volume":"24","author":"Kar","year":"1987","journal-title":"J. Terramech."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"311","DOI":"10.5545\/sv-jme.2019.6463","article-title":"Research on a Path-Tracking Control System for Articulated Tracked Vehicles","volume":"66","author":"Cui","year":"2020","journal-title":"Stroj. Vestn. J. Mech. Eng."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Wu, H., Su, W., and Liu, Z. (2014, January 9\u201311). PID controllers: Design and tuning methods. Proceedings of the 2014 9th IEEE Conference on Industrial Electronics and Applications 2014, Hangzhou, China.","DOI":"10.1109\/ICIEA.2014.6931273"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"559","DOI":"10.1109\/TCST.2005.847331","article-title":"PID control system analysis, design, and technology","volume":"13","author":"Ang","year":"2005","journal-title":"IEEE Trans. Control Syst. Technol."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/24\/1\/144\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T21:42:27Z","timestamp":1760132547000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/24\/1\/144"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,27]]},"references-count":25,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2024,1]]}},"alternative-id":["s24010144"],"URL":"https:\/\/doi.org\/10.3390\/s24010144","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12,27]]}}}