{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T08:26:48Z","timestamp":1775118408202,"version":"3.50.1"},"reference-count":24,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2020,1,27]],"date-time":"2020-01-27T00:00:00Z","timestamp":1580083200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2020,1,27]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>In the multi-splitting transmission lines extreme power environment of ultra-high voltage and strong electromagnetic interference, to improve the trajectory tracking and stability control performance of the robot manipulator when conduct electric power operation, and effectively reduce the influence of disturbance factors on the robot motion control, this paper aims to presents a robust trajectory tracking motion control method for power cable robot manipulators based on sliding mode variable structure control theory.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>Through the layering of aerial-online-ground robot three-dimensional control architecture, the robot joint motion dynamic model has been built, and the motion control model of the N-degrees of freedom robot system has also been obtained. On this basis, the state space expression of joint motion control under disturbance and uncertainty has been also derived, and the manipulator sliding mode variable structure trajectory tracking control model has also been established. The influence of the perturbation control parameters on the robot motion control can be compensated by the back propagation neural network learning, the stability of the controller has been analyzed by using Lyapunov theory.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The robot has been tested on a analog line in the lab, the effectiveness of sliding mode variable structure control is verified by trajectory tracking simulation experiments of different typical signals with different methods. The field operation experiment further verifies the engineering practicability of the control method. At the same time, the control method has the remarkable characteristics of sound versatility, strong adaptability and easy expansion.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>Three-dimensional control architecture of underground-online-aerial robots has been proposed for industrial field applications in the ubiquitous power internet of things environment (UPIOT). Starting from the robot joint motion, the dynamic equation of the robot joint motion and the state space expression of the robot control system have been established. Based on this, a robot closed-loop trajectory tracking control system has been designed. A robust trajectory tracking motion control method for robots based on sliding mode variable structure theory has been proposed, and a sliding mode control model for the robot has been constructed. The uncertain parameters in the control model have been compensated by the neural network in real-time, and the sliding mode robust control law of the robot manipulator has been solved and obtained. A suitable Lyapunov function has been selected to prove the stability of the system. This method enhances the expansibility of the robot control system and shortens the development cycle of the controller. The trajectory tracking simulation experiment of the robot manipulator proves that the sliding mode variable structure control can effectively restrain the influence of disturbance and uncertainty on the robot motion stability, and meet the design requirements of the control system with fast response, high tracking accuracy and sound stability. Finally, the engineering practicability and superiority of sliding mode variable structure control have been further verified by field operation experiments.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-09-2019-0203","type":"journal-article","created":{"date-parts":[[2020,2,3]],"date-time":"2020-02-03T07:30:57Z","timestamp":1580715057000},"page":"219-229","source":"Crossref","is-referenced-by-count":12,"title":["Robust motion control for multi-split transmission line four-wheel driven mobile operation robot in extreme power environment"],"prefix":"10.1108","volume":"47","author":[{"given":"Hong Jun","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Jiang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dehua","family":"Zou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Yan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"An","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"issue":"2","key":"key2020032310361238600_ref001","doi-asserted-by":"crossref","first-page":"307","DOI":"10.1007\/s12046-015-0354-x","article-title":"Tool position tracking control of a nonlinear uncertain flexible robot manipulator by using robust H2\/H\u221e, controller via T-S fuzzy model","volume":"40","year":"2015","journal-title":"Sadhana"},{"issue":"3","key":"key2020032310361238600_ref002","first-page":"211","article-title":"Trajectory tracking control for perturbed robot manipulators using iterative learning method","volume":"12","year":"2016","journal-title":"International Journal on Advances in Manufacturing Technology"},{"issue":"3","key":"key2020032310361238600_ref003","doi-asserted-by":"crossref","first-page":"256","DOI":"10.1108\/01439911011037659","article-title":"Cable-crawler-robot for the inspection of high-voltage power lines that can passively roll over mast tops","volume":"37","year":"2010","journal-title":"Industrial Robot: An International Journal"},{"issue":"5-6","key":"key2020032310361238600_ref004","doi-asserted-by":"crossref","first-page":"614","DOI":"10.1007\/s00170-005-0195-6","article-title":"Insulating safety analysis of the hot-line sweeping robot","volume":"31","year":"2006","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"issue":"1","key":"key2020032310361238600_ref005","first-page":"1","article-title":"Design of automated hotline maintenance robot using haptic technology","volume":"4","year":"2014","journal-title":"International Journal of Scientific and Research Publications"},{"key":"key2020032310361238600_ref006","first-page":"1295","volume-title":"New algorithms for upper and lower bounds on the mixed\/real structured singular value Control Conference","year":"2001"},{"key":"key2020032310361238600_ref007","article-title":"Verifying robust forward admissibility for nonlinear systems using (skewed) structured singular values","volume-title":"IEEE Conference on Decision and Control","year":"2016"},{"issue":"7","key":"key2020032310361238600_ref008","doi-asserted-by":"crossref","first-page":"3229","DOI":"10.1016\/j.apm.2011.10.002","article-title":"Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints","volume":"36","year":"2012","journal-title":"Applied Mathematical Modelling"},{"issue":"10","key":"key2020032310361238600_ref009","doi-asserted-by":"crossref","first-page":"1225","DOI":"10.1177\/0142331215583326","article-title":"Impulse energy approximation of higher-order interval systems using Kharitonov\u2019s polynomials","volume":"38","year":"2016","journal-title":"Transactions of the Institute of Measurement and Control"},{"issue":"4","key":"key2020032310361238600_ref010","doi-asserted-by":"crossref","first-page":"1775","DOI":"10.1109\/TSG.2016.2557813","article-title":"Droop-based distributed cooperative control for microgrids with time-varying delays","volume":"7","year":"2016","journal-title":"IEEE Transactions on Smart Grid"},{"issue":"1","key":"key2020032310361238600_ref011","doi-asserted-by":"crossref","first-page":"483","DOI":"10.1016\/j.nonrwa.2012.07.010","article-title":"Adaptive fuzzy output feedback control for a single-link flexible robot manipulator driven DC motor via backstepping","volume":"14","year":"2013","journal-title":"Nonlinear Analysis: Real World Applications"},{"issue":"4","key":"key2020032310361238600_ref012","first-page":"1","article-title":"Three-dimensional path following control of underactuated autonomous underwater vehicle based on damping backstepping","volume":"14","year":"2017","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"99","key":"key2020032310361238600_ref013","first-page":"1","article-title":"A novel distributed secondary coordination control approach for islanded microgrids","year":"2017","journal-title":"IEEE Transactions on Smart Grid"},{"issue":"2","key":"key2020032310361238600_ref014","first-page":"341","article-title":"Robust adaptive neural-fuzzy network tracking control for robot manipulator","volume":"7","year":"2016","journal-title":"International Journal of Computers Communications & Control"},{"issue":"2","key":"key2020032310361238600_ref015","doi-asserted-by":"crossref","first-page":"632","DOI":"10.1109\/TPWRD.2011.2182620","article-title":"An inspection robot for live-line suspension insulator strings in 345 kV power lines","volume":"27","year":"2012","journal-title":"IEEE Transactions on Power Delivery"},{"issue":"1","key":"key2020032310361238600_ref016","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/JPETS.2015.2395388","article-title":"Technology opens the way to robotic inspection and maintenance of high-voltage power lines","volume":"2","year":"2015","journal-title":"IEEE Power and Energy Technology Systems Journal"},{"key":"key2020032310361238600_ref017","first-page":"711","article-title":"Technology: from inspection to robotic maintenance on live transmission power lines","volume-title":"IEEE International Conference on Robotics and Automation","year":"2009"},{"issue":"2","key":"key2020032310361238600_ref018","first-page":"67","article-title":"New approaches for live wire maintenance of transmission lines","volume":"3","year":"2013","journal-title":"MIT International Journal of Electrical and Instrumentation Engineering"},{"issue":"8","key":"key2020032310361238600_ref019","doi-asserted-by":"crossref","first-page":"1863","DOI":"10.1109\/TSMC.2016.2562506","article-title":"Neural network control of a flexible robotic manipulator using the lumped Spring-Mass model","volume":"47","year":"2017","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems"},{"issue":"17\/18","key":"key2020032310361238600_ref020","first-page":"1215","article-title":"Intelligent adaptive observer-based optimal control of overhead transmission line de-icing robot manipulator","volume":"30","year":"2016","journal-title":"Advanced Robotics"},{"issue":"7","key":"key2020032310361238600_ref021","first-page":"921","article-title":"Control system construction and action controller of high voltage transmission line inspection robot","volume":"51","year":"2011","journal-title":"Journal of Tsinghua University (Natural Science)"},{"issue":"3","key":"key2020032310361238600_ref022a","doi-asserted-by":"crossref","first-page":"423","DOI":"10.4283\/JMAG.2018.23.3.423","article-title":"Modeling and simulation of the magnetic method for high voltage direct current inspection robot","volume":"23","year":"2018","journal-title":"Journal of Magnetics"},{"issue":"5","key":"key2020032310361238600_ref022","doi-asserted-by":"crossref","first-page":"2432","DOI":"10.1109\/TVT.2007.899941","article-title":"Improving handling stability performance of four-wheel steering vehicle via \u03bc synthesis robust control","volume":"56","year":"2007","journal-title":"IEEE Transactions on Vehicular Technology"},{"issue":"1","key":"key2020032310361238600_ref023","first-page":"63","article-title":"Structured singular value synthesis based low power level steam generator water level controller design","volume":"46","year":"2012","journal-title":"Atomic Energy Science & Technology"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-09-2019-0203\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-09-2019-0203\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:56Z","timestamp":1753393196000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/47\/2\/219-229\/180873"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,1,27]]},"references-count":24,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,1,27]]}},"alternative-id":["10.1108\/IR-09-2019-0203"],"URL":"https:\/\/doi.org\/10.1108\/ir-09-2019-0203","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2020,1,27]]}}}