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A nonlinear optimal control approach for underactuated power-line inspection robots

Published online by Cambridge University Press:  18 October 2021

Gerasimos Rigatos Open the ORCID record for Gerasimos Rigatos [Opens in a new window] ,
Nikolaos Zervos ,
Pierluigi Siano ,
Masoud Abbaszadeh ,
Jorge Pomares  and
Patrice Wira
Gerasimos Rigatos*
Affiliation:
Unit of Industrial Autom., Industrial Systems Inst., 26504, Rion PatrasGreece
Nikolaos Zervos
Affiliation:
Unit of Industrial Autom., Industrial Systems Inst., 26504, Rion PatrasGreece
Pierluigi Siano
Affiliation:
Department of Innovation Syst., University of Salerno, Fisciano, 84084, Italy
Masoud Abbaszadeh
Affiliation:
GE Global Research, General Electric, Niskayuna 12309 NY USA
Jorge Pomares
Affiliation:
Dept. of Systems Eng., University of Alicante, 03690 Alicante, Spain
Patrice Wira
Affiliation:
IRIMAS, Université d’ Haute Alsace, 68093 Mulhouse, France
*
*Corresponding author. E-mail: grigat@ieee.org
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Abstract

The article proposes a nonlinear optimal (H-infinity) control approach for a type of underactuated power-line inspection robots. To implement this control scheme, the state-space model of the power-line inspection robots undergoes first approximate linearization around a temporary operating point, through first-order Taylor series expansion and through the computation of the associated Jacobian matrices. To select the feedback gains of the controller an algebraic Riccati equation is solved at each time step of the control method. The global stability properties of the control loop are proven through Lyapunov analysis. The significance of the article’s results is outlined in the following: (i) the proposed control method is suitable for treating underactuated robotic systems and in general nonlinear dynamical systems with control inputs gain matrices which are in a nonquadratic form, (ii) by achieving stabilization of the power-line inspection robots in underactuation conditions the proposed control method ensures the reliable functioning of these robotic systems in the case of actuators’ failures or enables the complete removal of certain actuators and the reduction of the weight of these robotic systems, (iii) the proposed control method offers a solution to the nonlinear optimal control problem which is of proven global stability while also remaining computationally tractable, (iv) the proposed nonlinear optimal control method retains the advantages of linear optimal control that is fast and accurate tracking of reference setpoints under moderate variations of the control inputs, and (v) by minimizing the amount of energy that is dispersed by the actuators of the power-line inspection robots the proposed control method improves the autonomy and operational capacity of such robotic systems.

Keywords

power-line inspection robotselectric grid securityunderactuated robotsnonlinear optimal controlH-infinity controlalgebraic Riccati equationLyapunov stability analysisglobal asymptotic stability
Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1979 - 2009
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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