面向电力巡检的蛇形机器人自适应控制方法研究  

Research on Adaptive Control Methods for Snake-Like Robots in Power Inspection

作　　者：程成 戴国庆 徐启煌 贺瑞 徐凡 CHENG Cheng;DAI Guoqing;XU Qihuang;HE Rui;XU Fan(Guanyun County Power Supply Branch,State Grid Jiangsu Electric Power Co.,Ltd.,Lianyungang,Jiangsu 222200,China)

机构地区：[1]国网江苏省电力有限公司灌云县供电分公司,江苏连云港222200

出　　处：《自动化应用》2025年第3期53-55,共3页Automation Application

摘　　要：仿生蛇形机器人在电力巡检领域具有极大的应用潜力。针对传统控制方法在复杂环境中鲁棒性和控制精度不足的问题,提出了一种基于自适应全局分数阶终端滑模控制的蛇形巡检机器人控制方法。通过重构动力学模型,利用径向基神经网络观测器实时估计不确定项和外部扰动,同时构建全局分数阶终端滑模面,引入自适应等速趋近率,实现了系统的高精度控制和快速收敛。结果表明,该方法显著提高了蛇形机器人在复杂地形下的控制性能和鲁棒性。Biomimetic snake-like robots have great potential for application in the field of power inspection.To address the issues of insufficient robustness and control accuracy of traditional control methods in complex environments,this paper proposes a control method for snake-like inspection robots based on adaptive global fractional-order terminal sliding mode control.By reconstructing the dynamic model and using a radial basis function neural network observer to estimate uncertainties and external disturbances in real time,a global fractional order terminal sliding surface is constructed,and an adaptive constant velocity approach rate is introduced to achieve high-precision control and fast convergence of the system.The results demonstrate that this method significantly improves the control performance and robustness of snake-like robots in complex terrains.

关 键 词：蛇形机器人 电力巡检 自适应控制 分数阶滑模控制 神经网络观测器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]