Motion Control and Experimental Verification of a Continuum Aerial Manipulator for Power Grid Maintenance Operations

ABSTRACT

To address the heavy reliance on manual labor, low operational efficiency, and high safety risks in distribution network maintenance, this paper proposes an aerial continuum manipulator (ACM) system for real‐world deployment. The system integrates a quadrotor UAV with a wave spring continuum manipulator (WSCM), thereby combining aerial mobility with compliant manipulation capability to accommodate complex operating environments. To cope with compound uncertainties arising during flight operations, including rotor downwash, platform vibration, and attitude disturbances, a disturbance rejection zeroing neurodynamic model‐free control method with dual input fuzzy regulation (DFRZND) is developed. By introducing the tracking error and its rate of change as fuzzy inputs, the proposed method enables adaptive adjustment of the convergence parameter. In conjunction with a smooth composite activation function, it further enhances disturbance rejection and trajectory tracking accuracy. Simulation results demonstrate that the proposed method maintains high precision motion control performance under various challenging conditions, including persistent disturbances, oscillatory disturbances, and abrupt disturbances. Furthermore, a physical prototype was developed and outdoor experiments were conducted to verify that the system can reliably perform representative distribution network maintenance tasks, including insulating cover installation on parallel groove clamps and hook engagement of bypass cable lifters. The results indicate that the proposed ACM system and its control strategy exhibit strong potential for practical application in live power maintenance operations.