Design and Research of Position Controller for Power Line Inspection Robot Flight Mode Based on ROS

Abstract

Aiming at the demand of position control of power line inspection robot flight mode, a design method of PID position controller based on ROS platform is proposed. The three-channel control model is derived theoretically, and the controller design and simulation are completed in Simulink. The steady state performance and anti-interference ability of the controller are evaluated by defining the RMS of the measured steady state in the Gazebo environment. After the actual flight verification, the designed controller has high control precision under steady state.