Intelligent Model-Free Control for Power Line Inspection Robots

Abstract

This article presents an innovative approach to model-free adaptive control designed for power line inspection robots facing challenges with input time delays. The strategy begins by employing a compact-form dynamic linearization technique to transform the original system into a data-driven model. Subsequently, utilizing real-time input and output information, the system’s pseudo-partial derivatives are assessed online. Leveraging these assessment parameters, a weighted one-step prediction control mechanism is designed, and a compact-form dynamic linearization model-free adaptive control framework is established. Moreover, the research incorporates compression mapping to thoroughly confirm the convergence of the algorithm, thereby ensuring its stability. Ultimately, the effectiveness and practicality of this control method are substantiated through a series of simulation experiments, demonstrating its robust performance. Show more