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<p>In this study, a dynamic surface sliding mode fault-tolerant controller (DSSMFTC) with input quantization is designed for the attitude trajectory tracking control problem of power line inspection robot (PLIR). Unlike previous works, the designed controller simultaneously accounts for the existing external disturbances, actuator faults and limited communication bandwidth in PLIR. The inclusive structure of the designed controller strategy is as follows: First, a novel fault model of the PLIR is established to enhance the controller’s ability to handle possible-fault conditions. Second, the DSSMFTC combines with a disturbance observer which can solve the problem of external disturbances to ensure the precise control of attitude trajectory in PLIR. Finally, a uniform quantizer is introduced to reduce the frequently network operations during signal transmission. Based on the above three strategies, the hybrid controller can track the desired trajectory in a timely and accurate manner, which is proved by Lyapunov stability theorem. Simulation and experimental results are coincided with theoretical analysis.</p>

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Design of Quantitative Dynamic Surface Sliding Mode Fault-Tolerant Controller for Power Line Inspection Robots

  • 期刊论文

  • 发表日期：

    2026年1月1日

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  • Xiang-Kai He,
  • Zhi-Huan Chen,
  • Xue-Gang Dai,
  • Yang Chen,
  • Tyrone Fernando,
  • Herbert Ho-Ching Iu

摘要

In this study, a dynamic surface sliding mode fault-tolerant controller (DSSMFTC) with input quantization is designed for the attitude trajectory tracking control problem of power line inspection robot (PLIR). Unlike previous works, the designed controller simultaneously accounts for the existing external disturbances, actuator faults and limited communication bandwidth in PLIR. The inclusive structure of the designed controller strategy is as follows: First, a novel fault model of the PLIR is established to enhance the controller’s ability to handle possible-fault conditions. Second, the DSSMFTC combines with a disturbance observer which can solve the problem of external disturbances to ensure the precise control of attitude trajectory in PLIR. Finally, a uniform quantizer is introduced to reduce the frequently network operations during signal transmission. Based on the above three strategies, the hybrid controller can track the desired trajectory in a timely and accurate manner, which is proved by Lyapunov stability theorem. Simulation and experimental results are coincided with theoretical analysis.