General Type-2 Fuzzy Gain Scheduling PID Controller with Application to Power-Line Inspection Robots

Zhao, Tao; Chen, Yao; Dian, Songyi; Guo, Rui; Li, Shengchuan

doi:10.1007/s40815-019-00780-1

Cited by 40 publications

(18 citation statements)

References 50 publications

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“…The Korea Electric Power Research Institute 9 has developed an insulator detection robot for the 345 kV AC transmission line, the basic configuration of a bolt tightening robot has been developed by India Welol University of Technology, 11 the bolt tightening can be carried out through the double mobile arms, the working manipulator and the fixed arms have been designed as a whole, wherein one arm fixes the hexagonal bolt and the other completes the tightening operation by rotating the sleeve motor. Additionally, American Electric Power Research Association, 12 Spain, 13 Ukrainian Electric Power Research Institute and Wenicha Polytechnic University 14 have also developed robots for transmission lines live maintenance operations.…”

Section: Research Status Of Inspection Maintenance Robot For Transmission Linesmentioning

confidence: 99%

Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Jiang

Zou

et al. 2020

Robotica

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SUMMARY High-voltage power cables are important channels for power transmission systems. Their special geographical environment and harsh natural environment can lead to many different faults. At present, such special operations in dangerous and harsh environments are performed manually, which not only has high labor intensity and low work efficiency but also has great personal safety risks. In order to solve such difficult problems, this paper studies the power maintenance robot for insulator string replacement, spacer replacement, damper and drainage plate maintenance; the basic configuration and the operation motion planning have been proposed; and the virtual prototype of the inspection maintenance robots has been developed, and then the mechanical structure of the robots has been optimized by the robot kinematics modeling and analyzed the working space based on the Monte Carlo method. The system platform, operation function, structural characteristics and related key technologies involved in the robot system development were systematically summarized; the deep integration point for the robot technology with big data, cloud computing, artificial intelligence, and ubiquitous power Internet-of-Things technologies was also discussed. Finally, the physical prototype of the insulator replacement, drainage plate tightening, and damper replacement operation robot has been developed; several experimental tests on a 220 V live line have been conducted so as to verify the robot engineering practicality; and the main development and future research direction have also been pointed out at last.

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Section: Research Status Of Inspection Maintenance Robot For Transmission Linesmentioning

confidence: 99%

Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Jiang

Zou

et al. 2020

Robotica

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“…Also, the authors established the simplified dynamic model of a 2DoF PLI robot for the balance adjustment posture. They analyzed its performance using the adaptive gain-scheduled backstepping control ( Dian et al, 2019 ) and the Fuzzy Gain Scheduling PID Controller ( Zhao et al, 2020 ). Wei et al (2021) presented the stability analysis of a dual-arm inspection robot moving along a catenary power line.…”

Section: Introductionmentioning

confidence: 99%

Precise Motion Control of a Power Line Inspection Robot Using Hybrid Time Delay and State Feedback Control

et al. 2022

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Intelligent robotic inspection of power transmission lines has proved to be an excellent alternative to the traditional manual inspection methods, which are often tedious, expensive, and dangerous. However, to achieve effective automation of the robots under different working environments, the dynamic analysis and control of the robots need to be investigated for an efficient inspection process. Nonetheless, the application of control techniques for the position, speed and vibration control of these robots has not been explored in detail by the existing literature. Thus, an approach for precise motion control of the sliding inspection robot is presented in this paper. The main contribution of the study is that the chattering problem associated with the traditional command shaping time delay control (TDC) was minimized by smoothing the chattered input signal. Then, the improved control (iTDC) which is effective for oscillation control is hybridized with a pole placement based feedback control (PPC) to achieve both position and the sway angle control of the robot. The nonlinear and the linearized models of the sliding robot were established for the control design and analysis. Three parameters of the robot, namely, the length of the suspended arm, the mass of the payload, and the friction coefficient of different surfaces, were used to assess the robustness of the controller to model uncertainties. The iTDC + PPC has improved the velocity of TDC by 201% and minimizes the angular oscillation of PPC by 209%. Thus, the results demonstrate that the hybridized iTDC + PPC approach could be effectively applied for precise motion control of the sliding inspection robot.

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“…This representation simplified type reduction of general type-2 fuzzy sets and made general type-2 fuzzy sets more practical. General type-2 fuzzy logic systems are widely applied in controlling systems [18,[25][26][27][28][29][30][31][32][33][34][35][36][37][38][39], fractional-order systems [40,41], diagnosis systems [42], expert systems [43], classifier systems [44], pattern recognitions [45], state space sculpting [46], similarity measures [47], forecasting [48], brain-machine interface [49], and so on. The results showed that the effects of general type-2 fuzzy logic systems are better than type-1 and interval type-2 fuzzy logic systems.…”

Section: Introductionmentioning

confidence: 99%

A unified general type‐2 fuzzy PID controller and its comparative with type‐1 and interval type‐2 fuzzy PID controller

Zhong

2021

Asian Journal of Control

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For the type reduction of general type-2 fuzzy sets based on α-plane representation was converted to type reduction of several interval type-2 fuzzy sets, so it was time consuming in real applications. In this paper, a unified general type-2 fuzzy PID (UGT2-FPID) controller using the upper and lower bounds of one α-plane is proposed, which has higher real time. The UGT2-FPID controller contains another two adjust parameters, and the analytical structure of UGT2-FPID controller is obtained by adapting input combination method. Furthermore, this paper discusses the parameter adjustment methods to achieve better controlling effects by the mathematical expressions of UGT2-FPID controller. The robustness and effectiveness of proposed general type-2 fuzzy PID controller are tested by two production process objects. The simulation results show that the controlling effects of proposed general type-2 fuzzy PID controller are better than PID, type-1 fuzzy PID, and interval type-2 fuzzy PID controller even if there are exit uncertainties, like controlled object structure changing, controller disturbance, or output noise.

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General Type-2 Fuzzy Gain Scheduling PID Controller with Application to Power-Line Inspection Robots

Cited by 40 publications

References 50 publications

Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Precise Motion Control of a Power Line Inspection Robot Using Hybrid Time Delay and State Feedback Control

A unified general type‐2 fuzzy PID controller and its comparative with type‐1 and interval type‐2 fuzzy PID controller

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