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.
|Number of pages||7|
|Journal||Qinghua Daxue Xuebao/Journal of Tsinghua University|
|State||Published - Jul 2011|
- High-voltage power transmission
- Lines inspection robot
- Robust control