电力信息与通信技术2025，Vol.23Issue(8)：53-60,8.DOI:10.16543/j.2095-641x.electric.power.ict.2025.08.07
面向电力巡检的无人机滑模控制器设计
Sliding-mode Controller Design of UAV for Electric Power Inspection
张华 1韩阳 1林洋1
作者信息
- 1. 北京中电飞华通信有限公司,北京市 海淀区 100070
- 折叠
摘要
Abstract
A neural network non-singular terminal sliding mode control method is proposed to address the problems of model uncertainty and external disturbances in UAVs for power inspection.The method adopts a non-singular terminal sliding mode surface to accelerate the convergence speed of the system,utilizes an autoregressive wavelet neural network to compensate for the model uncertainty and unknown external disturbances,and utilizes the Lyapunov theory to derive an adaptive updating law to adjust the weights,and proves the stability of the system.Carry out UAV transmission line inspection simulation and flight experiments to verify the reliability and effectiveness of the control method,and the results show that:the control method is characterized by high trajectory tracking accuracy and strong anti-interference ability compared with the sliding mode control and non-singular sliding mode control,and the UAV accurately tracks the transmission line to complete the inspection task.关键词
电力巡检/无人机/神经网络/非奇异终端滑模Key words
electric power inspection/unmanned aerial vehicle/neural network/non-singular terminal sliding mode分类
机械制造引用本文复制引用
张华,韩阳,林洋..面向电力巡检的无人机滑模控制器设计[J].电力信息与通信技术,2025,23(8):53-60,8.
