Journal of Applied Science and Engineering

Published by Tamkang University Press

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Adaptive Sliding Mode Trajectory Tracking Control of Negative Pressure Adhesion Wall-Climbing Robot for Granary Curved Wall Operations

 2027

 Volume 36

Guangbo Xiang1, Angang Cao1, Peifang Xin1, and Yilong Hao2

1College of Mechanical Engineering, Zhengzhou University of Science and Technology, Zhengzhou 450064 China

2SAIC Power Technology (Zhengzhou) Co., Ltd, Zhengzhou 450000 China

Received: September 10, 2026
Accepted: September 28, 2026
Publication Date: October 17, 2026

上傳圖片

Overall structure of the negative pressure adhesion wall-climbing robot

 Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

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Granary curved wall environments feature variable curvature, surface roughness interference, and time-varying negative pressure adhesion disturbances, which easily cause trajectory deviation, chattering phenomenon, and poor robustness in the trajectory tracking process of traditional wall-climbing robots. To solve the above problems, this paper proposes an adaptive sliding mode control (ASMC) strategy with dynamic disturbance compensation and improved reaching law for the trajectory tracking of negative pressure adhesion wall-climbing robots operating on granary curved walls. Firstly, a kinematic and dynamic model of the robot adapting to curved wall deformation is established, fully considering the coupling characteristics of negative pressure adhesion fluctuation, curved surface curvature variation, and external environmental disturbances. Secondly, an improved exponential reaching law with adaptive boundary layer adjustment is designed to suppress the inherent chattering of traditional sliding mode control (SMC). Meanwhile, a parameter adaptive update law is constructed based on Lyapunov stability theory to dynamically estimate and compensate unknown lumped disturbances including wall friction, adhesion attenuation, and curvature-induced pose deviation, eliminating the dependence on accurate system model parameters. Furthermore, a hierarchical control framework combining trajectory planning layer and dynamic tracking control layer is proposed to realize high-precision and stable tracking of complex curved trajectories of granary walls. Comparative simulation and physical prototype experiments are conducted on typical granary arc wall surfaces with different curvatures and disturbance intensities. The results show that the proposed ASMC strategy reduces the maximum trajectory tracking error by 42.6% and the average error by 38.9% compared with traditional SMC, and effectively suppresses control chattering. The robot maintains stable tracking performance under variable curvature and time-varying disturbance conditions, verifying the superior robustness and adaptability of the proposed method for granary curved wall operation scenarios.

Keywords: Wall-climbing robot; Negative pressure adhesion; Curved wall trajectory tracking; Adaptive sliding mode control; Granary operation; Disturbance compensation

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