The robust control for HV power transmission lines inspection robot

This paper presents control system and control design for HV power transmission lines inspection robot. The robust control law for four kinds of robot action is derived based on dynamic model. To prove the availability of control system and control method, paper uses the robust control law and PID control to simulate process of robot inspection. The content of simulation includes robot action respective, action combination and the process of robot obstacle spanning. Simulation results show that the proposed control method can ensure robot achieves the inspection task more effective than conventional PID control.