Modeling and Optimal Control of a Climb-Sliding Power Transmission Line Inspection Robot

Abstract

This paper presents modeling and control of a sliding transmission line inspection robot modeled as mass spring damper system. The robot was proposed to inspect power lines using two arms attached to the overhead cables. The movement of the robot along the line as well as the disturbance due to gravitational force and wind are assumed to cause the power line to vibrate thereby causing the robot to be unstable. The mathematical model of the system was derived using Lagrange equations. Linear quadratic regulator (LQR) was designed for the optimal control of the induced vibrations. In addition, Pole placement control (PPC) was also designed and its performance was compared to the LQR. MATLAB simulations assessment of the robot behavior under initial condition, normal motion and external disturbances such as wind shows that LQR has better and efficient control as compared to the PPC.