Open AccessDesign of Quadrotor System for Transmission Line Inspection
Author(s) -
Xianqing Lin,
Fangrong Miao,
Yige Chen,
Wenqiang Zai,
Yan Ding,
Jiaxin Pan
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2203/1/012043
Subject(s) - control theory (sociology) , lyapunov function , interference (communication) , transmission (telecommunications) , computer science , line (geometry) , robust control , adaptive control , stability (learning theory) , control system , engineering , artificial intelligence , control (management) , mathematics , nonlinear system , physics , telecommunications , channel (broadcasting) , geometry , quantum mechanics , electrical engineering , machine learning , computer network
A novel robust adaptive control is proposed for target detection and recognition in transmission line inspection, this paper proposes a quadrotor inspection system based on robust adaptive control of multi-sensor fusion. Robust adaptive control ensures the stability and anti-disturbance ability of the quadrotor during the flight. It is measurable for the distance between the quadrotor and cables by laser sensor and ultrasonic sensor. It can be used to detect and identify the target objects on cable lines by OpenMV. According to the proposed Lyapunov function, the asymptotically stable conditions is obtained, in which all trajectories converge in finite time to the desired location. Finally, the effectiveness of inspections is validated experimentally, and the system has strong anti-interference ability.