Dynamic Balance Control Based on an Adaptive Gain-scheduled Backstepping Scheme for Power-line Inspection Robots

Songyi Dian; Lin Chen; Son Hoang; Ming Pu; Junyong Liu

doi:10.1109/JAS.2017.7510721

Volume 6 Issue 1

Jan. 2019

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2019 > 6(1): 198-208

Songyi Dian, Lin Chen, Son Hoang, Ming Pu and Junyong Liu, "Dynamic Balance Control Based on an Adaptive Gain-scheduled Backstepping Scheme for Power-line Inspection Robots," IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 198-208, Jan. 2019. doi: 10.1109/JAS.2017.7510721

Citation:

Songyi Dian, Lin Chen, Son Hoang, Ming Pu and Junyong Liu, "Dynamic Balance Control Based on an Adaptive Gain-scheduled Backstepping Scheme for Power-line Inspection Robots," IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 198-208, Jan. 2019. doi: 10.1109/JAS.2017.7510721

Citation:

Songyi Dian, Lin Chen, Son Hoang, Ming Pu and Junyong Liu, "Dynamic Balance Control Based on an Adaptive Gain-scheduled Backstepping Scheme for Power-line Inspection Robots," IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 198-208, Jan. 2019. doi: 10.1109/JAS.2017.7510721

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Dynamic Balance Control Based on an Adaptive Gain-scheduled Backstepping Scheme for Power-line Inspection Robots

doi: 10.1109/JAS.2017.7510721

Songyi Dian^{1
,
,},
Lin Chen^1
,,
Son Hoang^1
,,
Ming Pu^2
,,
Junyong Liu^1
,

1.
School of Electrical Engineering and Information, Sichuan University, Chengdu 610065, China
2.
College of Control Engineering, Chengdu University of Information Technology, Chengdu 610225, China

More Information

Author Bio:
Songyi Dian is a Professor in the Department of Automation at Sichuan University, China. He received the MS degree in control engineering from Sichuan University, China, in 2002. He received the Ph.D. degree in nanomechanics engineering from Tohoku University, Japan, in 2009. His current research interests include robotic control, precision motion control, adaptive control, etc

Lin Chen is a master student at the School of Electrical Engineering and Information, Sichuan University, China. She received the bachelor degree from Sichuan University in 2015. Her research interests include multi-body system dynamics and robotic control.(e-mail: 13281137021@163.com)

Son Hoang received the Ph.D. degree from the School of Electrical Engineering and Information, Sichuan University, China, in 2016. He is now with the Department of Electrical Engineering and Automation, Faculty of Mechatronics and Civil Engineering at Vietnam National University of Forestry. His research interest is robotic control.(e-mail: hoangsonbk83@yahoo.com.vn)

Ming Pu received the Ph.D. degree from the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics in 2012. He is now with the College of Control Engineering, Chengdu University of Information Technology, China. His research interests include sliding mode control and finite time control.(e-mail: msznuaa@163.com)

Junyong Liu is a Professor at the School of Electrical Engineering and Information, Sichuan University, China. He received his Ph.D. degree from Brunel University, UK, in 1998. His current research interests include intelligent grid, power market, power system analysis and control, flexible AC transmission systems, applied computer science, etc.(e-mail: liujy@scu.edu.cn)
Corresponding author: Songyi Dian, e-mail: scudiansy@scu.edu.cn
Received Date: 2016-04-22
Accepted Date: 2016-10-08

Abstract

Abstract

This paper presents an adaptive gain-scheduled backstepping control (AGSBC) scheme for the balance control of an underactuated mechanical power-line inspection (PLI) robotic system with two degrees of freedom and a single control input. First, a nonlinear dynamic model of the balance adjustment process of the PLI robot is constructed, and then the model is linearized at a nominal equilibrium point to overcome the computational infeasibility of the conventional backstepping technique. Second, to solve generalized stabilization control issue for underactuated systems with multiple equilibrium points, an equilibrium manifold linearized model is developed using a scheduling variable, and then a gain-scheduled backstepping control (GSBC) scheme for expanding the operational area of the controlled system is constructed. Finally, an adaptive mechanism is proposed to counteract the impact of external disturbances. The robust stability of the closed-loop system is ensured by Lyapunov theorem. Simulation results demonstrate the effectiveness and high performance of the proposed scheme compared with other control schemes.
- Adaptive backstepping,
- balance control,
- gainscheduled,
- inspection robot,
- power line

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References(36)

References

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Dynamic Balance Control Based on an Adaptive Gain-scheduled Backstepping Scheme for Power-line Inspection Robots

doi: 10.1109/JAS.2017.7510721

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