Adaptive fuzzy logic based inspection robot for high voltage power transmission line
文献类型：会议论文
| 作者 | Yang, Guodong ; Li, En; Fan, Changchun; Lei, Weiyang; Liang, Zize; Guodong Yang; En Li; Zize Liang
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| 出版日期 | 2010 |
| 会议名称 | 2010 IEEE International Conference on Information and Automation, ICIA 2010 |
| 会议日期 | 2010 |
| 会议地点 | Harbin |
| 关键词 | Fuzzy logic, |
| 页码 | 613-618 |
| 通讯作者 | Guodong Yang ; En Li ; Changchun Fan ; Weiyang Lei ; Zize Liang |
| 英文摘要 | This paper presents a bi-brachiate robot for the inspection tasks of the high voltage power transmission line (HVPTL). The robot adopts a turning around method to get across the component (obstacles for the robot) installed on the HVPTL, and the process of the obstacle negotiation is expressed in detail. A simplified two-link model of the robot during obstacle negotiating stage is given. The adaptive fuzzy system is employed to approximate the model's uncertain nonlinear functions, and the robot controller is given based on the approximation result. Simulation and field experiment results illustrate the validity of the proposed controller and effectiveness of the inspection robot. |
| 收录类别 | EI |
| 会议录 | IEEE International Conference on Information and Automation (ICIA)
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| 源URL | [http://ir.ia.ac.cn/handle/173211/4837]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Guodong Yang; En Li; Zize Liang |
| 推荐引用方式 GB/T 7714 | Yang, Guodong,Li, En,Fan, Changchun,et al. Adaptive fuzzy logic based inspection robot for high voltage power transmission line[C]. 见:2010 IEEE International Conference on Information and Automation, ICIA 2010. Harbin. 2010. |
入库方式： OAI收割
来源：自动化研究所
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