Manipulator Robust Trajectory Tracking Control for Electric Power Operation Robot in Semi-Structured Environment

In order to effectively suppress the influence of disturbance signals and a variety of uncertainties on tracking precision and stability of manipulator for transmission line electric power operation robot in a harsh semi-structured environment with high voltage and strong electromagnetic interference, a robot manipulator trajectory tracking robust control method based on H∞ control theory was proposed in this paper. Firstly, layering robot control architecture, the different dynamic behaviors of robot were modeled based on Lagrange method and armature voltage equation, obtaining a mapping model of robot kinetic behaviors and kinetic parameters. Then on this basis, the space state expression of the manipulator joint motion control under the condition of disturbances and uncertainties was deduced, a manipulator motion H∞ control model was established, and the control system H∞ controller for manipulator trajectory tracking was also solved with linearity matrix inequality (LMI). Finally, the simulation and field operation experiments were carried out. The results show the effectiveness of the H∞ control, the engineering feasibility of the control method, and the remarkable characteristics in sound universality, adaptability and easy expansion.