Positioning with respect to a cylinder using proximity-based control

In this paper, we present how a proximity array attached as an end-effector can perform a positioning task with respect to a cylinder. We develop the complete modeling of the system from which a classical control law is designed. Positioning with respect to the outside of a cylinder can be used for non-contact inspection of the exterior of pipes in chemical plants or in oil/gas industries, while positioning with respect to the inside of a hollow cylinder can be used for guidance inside a pipe for non-contact inspection. We provide simulation and experimental results to validate the presented theory.