Control of a Redundantly Actuated Power Line Inspection Robot Based on a Singular Perturbation Model
文献类型：会议论文
| 作者 | Ludan Wang; Sheng Cheng; Jianwei Zhang; Ying Hu |
| 出版日期 | 2009 |
| 会议名称 | 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 |
| 会议地点 | Beijing |
| 英文摘要 | This paper focuses on the controller design of the walking system of a power transmission line inspection robot that is redundantly actuated by two wheels. After an analysis the kinematics and dynamic model of the driven system, the controller is designed as a master-slave model to avoid the "conflict" between the two wheels. To effectively damp the elastic vibration caused by the flexible manipulator, the control system was decomposed into two subsystems, a slowly-changing subsystem and a fast-changing subsystem based on a singular perturbation model. A hybrid control method, consisting of a RBF adaptive PD control which was applied to slow-changing subsystem and optimal control which was applied to fastchanging subsystem was presented. The RBF adaptive algorithm can estimate the unknown resistance on-line and keep thecontroller stable. Simulation results prove this method to be reasonable and effective. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/2452]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2009 |
| 推荐引用方式 GB/T 7714 | Ludan Wang,Sheng Cheng,Jianwei Zhang,et al. Control of a Redundantly Actuated Power Line Inspection Robot Based on a Singular Perturbation Model[C]. 见:2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008. Beijing. |
入库方式： OAI收割
来源：深圳先进技术研究院
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