Research on Quadrotor Controller for Transmission Line Inspection Based on Backstepping and Sliding Mode Method
Aiming at the problem of low efficiency and low accuracy of traditional inspection of transmission lines,the authors take the Quadrotor as the research object,establish the mathematical model of the Quadrotor for power inspection,and use the backstepping and sliding mode control method to design the position controller and attitude controller of the UAV,and compare them with the ordinary sliding mode control method,the above method is simulated and verified by MATLAB software.The results show that the UAV position controller and attitude controller designed by backstepping and sliding mode method have stronger robustness,and can still inspect the power line efficiently in the face of external bad weather interference.
transmission lineinspectionQuadrotorbackstepping and sliding mode method
国家科技期刊平台
NSTL
万方数据
