Backstepping control based on disturbance observer and equilibrium manifold linearization model for power-line inspection robots

In this paper, a backstepping controller based on equilibrium manifold linearization (EMI) model and a finite time disturbance observer is proposed for power line inspection (PLI) robots. Firstly, the state equations of PLI robot are established, and the nonlinear system model is linearized at the nominal equilibrium point. Then, the EMI model is established to expand the working range of the controlled system. In this paper, a finite time disturbance observer is used to observe and compensate the external disturbance of the PLI robot system to ensure that the observation error approaches zero in a finite time. Finally, a backstepping controller is designed based on the EMI model and finite time disturbance observer. The simulation results show the disturbance approximation ability and control effectiveness of the control scheme.