Design of Quantitative Dynamic Surface Sliding Mode Fault-Tolerant Controller for Power Line Inspection Robots

Key Points

• Effective fault-tolerant controller enhances performance in power line inspection robots, improving operational reliability and safety.
• The dynamic surface control strategy leverages sliding mode techniques, achieving robust responses during faults or disturbances.
• Design implementation tested in simulated scenarios with various fault conditions and environments representing real-world challenges.
• Findings support the need for adaptive controls in robotics, particularly in environments requiring high reliability, suggesting broader applications.