Precise Motion Control of a Power Line Inspection Robot Using Hybrid Time Delay and State Feedback Control

Abstract

Intelligent robotic inspection of power transmission lines has proved to be an excellent alternative to the traditional manual inspection methods, which are often tedious, expensive, and dangerous. However, to achieve effective automation of the robots under different working environments, the dynamic analysis and control of the robots need to be investigated for an efficient inspection process. Nonetheless, the application of control techniques for the position, speed and vibration control of these robots has not been explored in detail by the existing literature. Thus, an approach for precise motion control of the sliding inspection robot is presented in this paper. The main contribution of the study is that the chattering problem associated with the traditional command shaping time delay control (TDC) was minimized by smoothing the chattered input signal. Then, the improved control (iTDC) which is effective for oscillation control is hybridized with a pole placement based feedback control (PPC) to achieve both position and the sway angle control of the robot. The nonlinear and the linearized models of the sliding robot were established for the control design and analysis. Three parameters of the robot, namely, the length of the suspended arm, the mass of the payload, and the friction coefficient of different surfaces, were used to assess the robustness of the controller to model uncertainties. The iTDC + PPC has improved the velocity of TDC by 201% and minimizes the angular oscillation of PPC by 209%. Thus, the results demonstrate that the hybridized iTDC + PPC approach could be effectively applied for precise motion control of the sliding inspection robot.

Application and Analysis of Remote Sensing Image Processing Technology in Robotic Power Inspection

“…Example". In nanotechnology iterative upgrade in practice, intelligent robots face numerous tests, and the use of UAV aerial remote sensing for power patrol is the main fller of manned aerospace remote sensing [3]. Te so-called UAV remote sensing technology refers to the combination of UAV GIS and remote sensing technology, using L-band cameras, scanners, radar detection, and other facilities, and its communication, precise measurement, and positioning technology will automatically and rapidly obtain lowaltitude fight high-resolution remote sensing image data, which is an efective complement to space remote sensing and manned aerial remote sensing technology, in agriculture, forestry, land resources survey, and military.…”

Super-twisting sliding mode finite time control of power-line inspection robot with external disturbances and input delays

“…However, the design of this method requires the switching gain to be larger than the upper bound of unknown dynamics and disturbances, which has chattering phenomenon 31,32 and is always highly estimated. To avoid this phenomenon, the terminal sliding mode control, [33][34][35][36][37] global sliding mode control, 38 high-order sliding mode control, [39][40][41][42] time delay sliding mode control(TD-SMC) [43][44][45] and etc. are proposed.…”