Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain
Base stability for a wheeled robot while driving over rough terrain is a challenging issue. This paper proposes a novel base-stability control framework, consisting of an AVIC (adaptive variable-impedance control), AVIC-based tracking controller, and a THV (terrain height variation) and AC (attitude...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-06-01
|
| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/6/650 |
| _version_ | 1827736695903092736 |
|---|---|
| author | Kang Xu Jianyong Li Jinge Si Yueming Liu Meng Nie |
| author_facet | Kang Xu Jianyong Li Jinge Si Yueming Liu Meng Nie |
| author_sort | Kang Xu |
| collection | DOAJ |
| description | Base stability for a wheeled robot while driving over rough terrain is a challenging issue. This paper proposes a novel base-stability control framework, consisting of an AVIC (adaptive variable-impedance control), AVIC-based tracking controller, and a THV (terrain height variation) and AC (attitude control) AC-based controller to stabilize the base on rough terrain. The AVIC-based controller aims to track the desired trajectory of the robot base while suppressing lumped disturbance, including system uncertainties in the internal dynamics and unknown external disturbance. The THV-based controller is utilized as a feedforward controller to improve posture tracking performance in order to achieve a horizontal posture. The AC-based controller is employed to maintain the horizontal posture of the base. The effectiveness and robustness of the proposed controllers are validated by a series of numerical trials, and the results are evaluated. |
| first_indexed | 2024-03-11T02:14:01Z |
| format | Article |
| id | doaj.art-ff504b1a03bd416c9d80d7e3c036fe85 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T02:14:01Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-ff504b1a03bd416c9d80d7e3c036fe852023-11-18T11:21:07ZengMDPI AGMachines2075-17022023-06-0111665010.3390/machines11060650Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough TerrainKang Xu0Jianyong Li1Jinge Si2Yueming Liu3Meng Nie4Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, Beijing Jiaotong University, Beijing 100044, ChinaKey Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, Beijing Jiaotong University, Beijing 100044, ChinaSchool of Automation, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, Beijing Jiaotong University, Beijing 100044, ChinaKey Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, Beijing Jiaotong University, Beijing 100044, ChinaBase stability for a wheeled robot while driving over rough terrain is a challenging issue. This paper proposes a novel base-stability control framework, consisting of an AVIC (adaptive variable-impedance control), AVIC-based tracking controller, and a THV (terrain height variation) and AC (attitude control) AC-based controller to stabilize the base on rough terrain. The AVIC-based controller aims to track the desired trajectory of the robot base while suppressing lumped disturbance, including system uncertainties in the internal dynamics and unknown external disturbance. The THV-based controller is utilized as a feedforward controller to improve posture tracking performance in order to achieve a horizontal posture. The AC-based controller is employed to maintain the horizontal posture of the base. The effectiveness and robustness of the proposed controllers are validated by a series of numerical trials, and the results are evaluated.https://www.mdpi.com/2075-1702/11/6/650stability controlterrain sensingnovel wheeled robotic systemrough terrain |
| spellingShingle | Kang Xu Jianyong Li Jinge Si Yueming Liu Meng Nie Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain Machines stability control terrain sensing novel wheeled robotic system rough terrain |
| title | Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain |
| title_full | Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain |
| title_fullStr | Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain |
| title_full_unstemmed | Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain |
| title_short | Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain |
| title_sort | attitude oriented stability control with adaptive impedance control for a wheeled robotic system on rough terrain |
| topic | stability control terrain sensing novel wheeled robotic system rough terrain |
| url | https://www.mdpi.com/2075-1702/11/6/650 |
| work_keys_str_mv | AT kangxu attitudeorientedstabilitycontrolwithadaptiveimpedancecontrolforawheeledroboticsystemonroughterrain AT jianyongli attitudeorientedstabilitycontrolwithadaptiveimpedancecontrolforawheeledroboticsystemonroughterrain AT jingesi attitudeorientedstabilitycontrolwithadaptiveimpedancecontrolforawheeledroboticsystemonroughterrain AT yuemingliu attitudeorientedstabilitycontrolwithadaptiveimpedancecontrolforawheeledroboticsystemonroughterrain AT mengnie attitudeorientedstabilitycontrolwithadaptiveimpedancecontrolforawheeledroboticsystemonroughterrain |