Modeling and Robust Control for Modules in Electric Power Insurance Loss Assessment and Claims Robot

This study presents a new robust model-based control method to reduce the effects of variable system parameters and workload on the performance of power insurance claim assessment robots' articular modules.It combines PID control with robust compensation and model-based strategies to improve precision in uncertain conditions. The controller is carefully designed according to the dynamic model and includes a Lyapunov-based component to handle uncertainties in system dynamics. This strategy, enhancing traditional PID or reconfiguring robust control, is easy to apply and provides clear advantages. Theory shows the controller ensures stability and reliability through uniform boundedness.Additionally, a Matlab-based simulation platform has been used to create a controller prototype, simplifying development and debugging. Finally, simulations confirm the feasibility and effectiveness of the proposed control method.