Active Disturbance Rejection Control of Substation Inspection Robot Based on Data Drive

Summary: ADR control for robot inspection in substations(activedisturbance rejection control,ADRC)In the system, the inaccurate control input matrix will affect the control performance. A data-driven compensation based ADRC control architecture is proposed.First, the discrete-time dynamic model of the inspection robot is given.span>Secondly, the unmodeled dynamics, parameter errors, friction and other uncertainties are observed through the expanded state observer, and the design is based on the robot dynamics modelADRCController.Then placeADRCsystems and robotsThe system is viewed as a whole and uses data-driven model-free adaptive control(model-free adaptive contr