Simulation Analysis of Attitude Control for Transmission Line Inspection Robot Based on Active Disturbance Rejection Control

Regarding the problem that the attitude stability of the transmission line inspection robot is easily affected by the wind disturbance, an attitude control method based on active disturbance rejection control (ADRC) is proposed. By establishing dynamical model and state space model, an ADRC including tracking differentiator (TD), extended state observer (ESO), and nonlinear state error feedback (NLSEF) is designed, which can compensate for wind disturbances in real time. To verify the effectiveness of the proposed method, a co-simulation is conducted utilizing Adams and Simulink, and the peak fluctuation of the robot's pitch angle, yaw angle, roll angle and the centroid in X -axis and Y -axis directions are deeply analyzed. Experimental results show that the proposed ADRC can improve the stability and anti-wind disturbance ability of the robot compared with PID attitude control.