Flight Control of Aerial Robots for Wire-Hanging Under Wind Disturbances

To enhance the efficiency of power transmission line inspections, this paper designs a novel aerial robot capable of hanging line operations and proposes an automatic hanging line flight control method. The robot's structure is designed, and its mathematical model is established using the Newton-Euler method, along with a wind field model for accurate wind disturbance simulation. To address nonlinear coupling and wind disturbances, a position controller based on Linear Active Disturbance Rejection Control (LADRC) is developed, and system stability is proven. Simulation results demonstrate that the LADRC controller ensures stable and robust position control, enabling the aerial robot to perform hanging line tasks effectively under wind disturbances.