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Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
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Updated: Sep 30, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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Precise Motion Control of a Power Line Inspection Robot Using Hybrid Time Delay and State Feedback Control.

Ahmad Bala Alhassan1, Xiaodong Zhang1,2, Haiming Shen1

  • 1School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China.

Frontiers in Robotics and AI
|March 14, 2022
PubMed
Summary

This study presents a novel control approach for intelligent robots inspecting power lines. The hybridized improved time delay control (iTDC) and pole placement based feedback control (PPC) enhances robot precision and stability.

Keywords:
motion controloscillation controlpower linerobotic inspectiontime delay (TD)

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Automation

Background:

  • Manual inspection of power lines is inefficient and hazardous.
  • Automating robotic inspection requires advanced dynamic analysis and control.
  • Existing literature lacks detailed exploration of position, speed, and vibration control for inspection robots.

Purpose of the Study:

  • To present a precise motion control approach for sliding inspection robots.
  • To address the chattering problem in traditional time delay control (TDC).
  • To achieve simultaneous position and sway angle control.

Main Methods:

  • Developed an improved time delay control (iTDC) by smoothing chattered signals.
  • Hybridized iTDC with pole placement based feedback control (PPC).
  • Utilized nonlinear and linearized robot models for control design and robustness analysis against parameter variations.

Main Results:

  • The hybridized iTDC + PPC approach significantly improved robot velocity by 201% compared to TDC.
  • Minimized angular oscillation by 209% compared to PPC.
  • Demonstrated controller robustness to model uncertainties by varying robot parameters.

Conclusions:

  • The iTDC + PPC hybrid control is effective for precise motion control of sliding inspection robots.
  • This approach offers a viable solution for automated power line inspection.
  • The method successfully mitigates chattering and controls oscillations for enhanced performance.