Integrated Adaptive Robust Control for Pipe Robots Facing Compound Uncertainties

To address the challenges of low control accuracy and poor robustness for pipe robots operating in complex environments with compound uncertainties, including parameter variations, nonlinear friction, and external disturbances, this paper proposes an integrated adaptive robust control strategy. The framework begins by establishing a high-fidelity dynamic model that considers arbitrary pipe inclination. Subsequently, a Finite-Time Disturbance Observer (FTDO) is designed to rapidly and accurately estimate and compensate for the lumped uncertainties, thereby enhancing the system’s disturbance rejection capabilities. Based on this compensation, an Adaptive Non-singular Terminal Sliding Mode Control (ANTSMC) law is synthesized. By adjusting its gain online, the controller handles unknown uncertainty bounds, ensures the finite-time convergence of tracking errors, and effectively suppresses chattering. Simulation results validate that the proposed method achieves high-precision trajectory tracking with smooth control inputs and strong robustness, even in the presence of significant uncertainties. This study offers an effective solution for the high-precision and robust motion control of pipe robots.