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

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