Research on Time Delay Estimation Control Strategy of HV Transmission Line Operating Robot

Due to the complex working environment of live robot, it is necessary to tighten the bolt and replace the shock hammer with the robot arm. Therefore, it is very important to design the trajectory tracking control strategy of the manipulator with high performance. In this paper, a terminal sliding mode control strategy based on time delay estimation is proposed by combining the delay estimation strategy with the terminal sliding mode control method. In this strategy, time delay estimation method is used to estimate and compensate the uncertainty in the system to offset its influence. At the same time, terminal sliding mode control is used to realize trajectory tracking. By introducing nonlinear terms, a fast terminal sliding mode surface function is designed to reduce the time required for the system state to converge to the equilibrium point. This method has faster convergence speed and higher tracer precision, which can better complete the live work task of the robot.