Nonfragile Observer-Based Control With Passivity and H_∞ Performance for a Class of Power-Line Inspection Robots With Input Time-Delay

Abstract

This study introduces a nonfragile observer-based control strategy for power-line inspection robots (PILRs) that adeptly tackles input time delays while integrating passivity and $H_{\infty }$ performance. The research commences with the development of a nonlinear system model for PILRs, where the equilibrium manifold linearization method is employed to transform these underactuated systems into a linear framework using scheduling variables. Given the challenges posed by input delays, parameter disturbances, and uncertainties in real-world applications, this study proposes a robust observer-based control framework. Utilizing Lyapunov-Krasovskii functions and linear matrix inequalities (LMIs), the strategy confirms the system’s robustness in maintaining mixed passivity and $H_{\infty }$ performance. Simulation assessments substantiate the effectiveness of the proposed control approach, demonstrating its capacity to uphold system stability under diverse operational conditions. The strategy significantly enhances the reliability and safety of PILRs operating in complex environments, marking a pivotal advancement in robotic technologies for maintaining and inspecting utility infrastructures. This contribution not only strengthens the operational capabilities of PILRs but also provides a scalable approach to handling uncertainties and disturbances in robotic control systems.

Keywords

• Power-line inspection robots (PILRs)
• passivity
• H∞ performance
• input delays
• nonfragile control