Structure singular value theory based robust motion control of live maintenance robot with reconfigurable terminal function for high voltage transmission line

2018 
In a complex rigid–flexible coupling environment of overhead high-voltage transmission line, the manipulator robust trajectory tracking motion control of live maintenance robot is the premise of fulfilling the entire maintenance operations. In the process of manipulator’s different function reconfigurable (drainage board bolt tightening and insulator strings replacement), in response to the shortage of excessive pursuit of robust stability for robot manipulator when using H∞ control, as it ignores the influence of structure changes caused by terminal reconfigurable on the system stability to a certain extent, the structured singular value theory–based robot robust μ synthesis control method was proposed in this article. The intrinsic relationship between structured singular value control (μ method) and H∞ control was elaborated, a general control model of the multi-arms and multi-actions robot system was established, the multifunction terminal reconfigurable live maintenance robot with its two kinds of op...
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