Improved MFAC-based Re-flight Control Method for Power Inspection Flying Wall-climbing Robot

In recent years, ground robots designed for power emergency inspections have faced challenges in terms of maneuverability and visibility, often being outperformed by Unmanned Aerial Vehicles (UAVs). However, UAVs themselves are limited by short duration capabilities, preventing prolonged monitoring of issues. Existing claw-spiked flying wall-climbing robots, while capable of landing, struggle with re-flying due to their reliance on open-loop control systems. This paper introduces a Modified Fractional-order Adaptive Control-Proportional Integral Derivative (MFAC-PID) control algorithm. A dynamic model for the re-flying process was analyzed and established, optimizing the re-flying control algorithm accordingly. Simulation and experimental results confirm the effectiveness of this approach in controlling re-flying, thereby addressing the aforementioned issues.