Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain
نویسندگان
چکیده
Base stability for a wheeled robot while driving over rough terrain is challenging issue. This paper proposes novel base-stability control framework, consisting of an AVIC (adaptive variable-impedance control), AVIC-based tracking controller, and THV (terrain height variation) AC (attitude control) AC-based controller to stabilize the base on terrain. The aims track desired trajectory suppressing lumped disturbance, including system uncertainties in internal dynamics unknown external disturbance. THV-based utilized as feedforward improve posture performance order achieve horizontal posture. employed maintain base. effectiveness robustness proposed controllers are validated by series numerical trials, results evaluated.
منابع مشابه
Stability of Three-Wheeled Vehicles with and without Control System
In this study, stability control of a three-wheeled vehicle with two wheels on the front axle, a three-wheeled vehicle with two wheels on the rear axle, and a standard four-wheeled vehicle are compared. For vehicle dynamics control systems, the direct yaw moment control is considered as a suitable way of controlling the lateral motion of a vehicle during a severe driving maneuver. In accorda...
متن کاملTraction Control of Wheeled Robotic Vehicles in Rough Terrain with Application to Planetary Rovers
Mobile robots are being developed for high-risk missions in rough terrain situations, such as planetary exploration. Here, a roughterrain control methodology is presented that exploits the actuator redundancy found in multiwheeled mobile robot systems to improve ground traction and reduce power consumption. The algorithm optimizes individual wheel torque based on multiple optimization criteria,...
متن کاملstability of three-wheeled vehicles with and without control system
in this study, stability control of a three-wheeled vehicle with two wheels on the front axle, a three-wheeled vehicle with two wheels on the rear axle, and a standard four-wheeled vehicle are compared. for vehicle dynamics control systems, the direct yaw moment control is considered as a suitable way of controlling the lateral motion of a vehicle during a severe driving maneuver. in accordance...
متن کاملDesigning a Robust Control Scheme for Robotic Systems with an Adaptive Observer
This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Machines
سال: 2023
ISSN: ['2075-1702']
DOI: https://doi.org/10.3390/machines11060650