@inproceedings{8e88218fcdaa4835b7d707b265ae845e,
title = "Pole-placement control of a wall climbing vortex machine",
abstract = "The paper presents the performance of a control system designed to maintain a desired negative pressure to support the payload of a wall climbing robot with a Vortex machine on different climbing surfaces. The control objective is to provide fast response to changes in pressure demands and air leakage when a vacuum chamber is dragged over different climbing surfaces by a wheeled robot. Experiments have been performed on a single vacuum chamber in which a negative pressure is created by a very cheap AC motor and control is applied by changing the speed of the motor. A pole-placement control system is shown to decrease the time constant of the Vortex system from an open-loop value of 2.85 second to a closed-loop value of 0.15 second.",
author = "Sattar, \{Tariq P.\} and Malte Lorbach and Salman Hussain and Rodriguez, \{Hernando Leon\}",
note = "Publisher Copyright: {\textcopyright} 2010 by World Scientific Publishing Co. Pte. Ltd.; 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 ; Conference date: 31-08-2010 Through 03-09-2010",
year = "2010",
doi = "10.1142/9789814329927\_0151",
language = "English",
isbn = "9789814327978",
series = "Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010",
publisher = "World Scientific",
pages = "1235--1243",
editor = "Hideo Fujimoto and Tokhi, \{Mohammad O.\} and Hiromi Mochiyama and Virk, \{Gurvinder S.\}",
booktitle = "Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010",
}