Adaptive fuzzy logic based inspection robot for high voltage power transmission line

Author

Yang, Guodong ; Li, En ; Fan, Changchun ; Lei, Weiyang ; Liang, Zize

Author_Institution

Key Lab. of Complex Syst. & Intell. Sci., Beijing, China

fYear

2010

fDate

20-23 June 2010

Firstpage

613

Lastpage

618

Abstract

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.

Keywords

adaptive control; approximation theory; collision avoidance; fuzzy control; inspection; nonlinear functions; power transmission control; power transmission lines; robots; adaptive fuzzy logic; bi-brachiate robot; high voltage power transmission line; inspection robot; robot obstacle negotiation; turning around method; uncertain nonlinear functions; Adaptive control; Adaptive systems; Fuzzy logic; Inspection; Power system modeling; Power transmission lines; Programmable control; Robots; Turning; Voltage; Adaptive fuzzy control; Fuzzy system; Inspection robot; Obstacle negotiation;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2010 IEEE International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-5701-4

Type

conf

DOI

10.1109/ICINFA.2010.5512408

Filename

5512408