Abstract
A robot control system was developed based on a dynamic model of inspection robots for a class of utility inspection robots with high autonomy for power transmission lines. The model includes model errors, disturbances, and friction in reality. On the basis of this model, a robust control law was derived and Matlab was used to simulate the individual robot motion, combined motion and obstacle spanning for the robust control law and a conventional control law. The results verify the feasibility and advantages of the control method.
| Original language | English |
|---|---|
| Pages (from-to) | 921-927 |
| Number of pages | 7 |
| Journal | Qinghua Daxue Xuebao/Journal of Tsinghua University |
| Volume | 51 |
| Issue number | 7 |
| State | Published - Jul 2011 |
| Externally published | Yes |
Keywords
- High-voltage power transmission
- Lines inspection robot
- Robust control