Climbing robots are characterized by a secure surface coupling that is designed to prevent falling. The robot coupling ability is assured by an adhesion method leading to nonlinear dynamic models with time-varying parameters that affect the robot's mobility. Additionally, the wheel friction and the force of gravity force are also relevant issues that can compromise the climbing ability if they are not well modeled. This work presents a model-based torque controller for velocity tracking in a

more »

... r-wheeled climbing robot specially designed to inspect storage tanks. The model-based controller (MPC) compensates for the effects of nonlinearities due to the forces of gravity, friction, and adhesion through the dynamic and kinematic modeling of the climbing robot. Dynamic modeling is based on the Lagrange-Euler approach, which allows a better understanding of how forces and torques affect the robot's movement. Besides, an analysis of the interaction force between the robot and the contact surface is proposed, since this force affects the motion of the climbing robot according to spatial orientation. Finally, simulations are carried out to examine the robot's dynamics during the climbing movement, and the MPC is validated through the redrobot simulator V-REP and practical experiments. The presented results highlight the compensation of the nonlinear effects due to the robot's climbing motion by the proposed MPC controller.