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

	Adaptive fuzzy logic based inspection robot for high voltage power transmission line
	Yang, Guodong; Li, En; Fan, Changchun; Lei, Weiyang; Liang, Zize; Guodong Yang; En Li; Changchun Fan; Weiyang Lei; Zize Liang
	2010
会议名称	2010 IEEE International Conference on Information and Automation, ICIA 2010
会议录名称	IEEE International Conference on Information and Automation (ICIA)
页码	613-618
会议日期	2010
会议地点	Harbin
摘要	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.
关键词	Fuzzy Logic
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4837
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Guodong Yang; En Li; Changchun Fan; Weiyang Lei; Zize Liang
推荐引用方式 GB/T 7714	Yang, Guodong,Li, En,Fan, Changchun,et al. Adaptive fuzzy logic based inspection robot for high voltage power transmission line[C],2010:613-618.

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