基于前馈补偿的轮腿式机动平台姿态自适应控制

When passing through complex obstacles, a wheel-legged mobile platform bears a relatively large load on the wheel end, and the external force acting on the tire from the ground undergoes sudden changes. This significantly reduces the precision of the platform's attitude control and can lead to tire instability and loss of contact with the ground. To improve the terrain adaptation and stability, an adaptive attitude control strategy for the platform based on feedforward compensation is proposed. Considering the vertical support force and longitudinal driving force at the wheel-ground contact point, the inverse kinematic model and dynamic model of the platform are constructed. And the real-time estimation of the wheel-ground contact state is achieved, and the leg height observer and wheel-ground contact state are combined to perform feedforward compensation to adjust the leg's vertical height, balancing the platform's wheel motion stability and adaptive attitude control accuracy. Furthermore, considering the momentum and angular momentum of the platform, the virtual driving force at the wheel end is optimized by the quadratic programming algorithm to solve the feedforward compensation torque and thus enable the precise control of platform motion. The simulation results show that the proposed method can improve the adaptive attitude control accuracy and tire driving stability of the wheeled-legged mobile platform, laying the foundation for its performing reconnaissance and other tasks in complex working conditions.