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

来源 :自动化学报:英文版 | 被引量 : 0次 | 上传用户：xuhailinxhl

【摘要】

：

This paper presents an adaptive gain-scheduled backstepping control(AGSBC) scheme for the balance control of an underactuated mechanical power-line inspection(P

【作者】

：

Songyi Dian Lin Chen Son Hoang

【机构】

：

theSchoolofElectricalEngineeringandInformation,theCollegeofControlEngineering

【出处】

：

自动化学报:英文版

【发表日期】

：

2019年1期

【关键词】

：

Adaptive BACKSTEPPING BALANCE control gain-scheduled inspection ROBOT POWER line

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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 dy

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

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