Abstract
The motion control method mainly based on kinematics equations cannot accurately describe the relationship between the driving joint torque and the vehicle body trajectory and attitude because of the many degrees of freedom of motion and complex posture adjustment of articulated suspension vehicle. A general dynamic optimal control framework suitable for the overall posture adjustment of the leg-wheeled robot vehicle is established based on the centroidal dynamics model and the quadratic programming method. In the controller, the wheel-ground reaction force is directly controlled by using the quadratic programming method based on dynamic model and the inverse kinematics control. The above control method is used to simulate the posture adjustment of roll, pitch and composite attitude of articulated suspension vehicle and its application on bumpy road. The results show that the dynamic optimal control method of dynamic posture adjustment can meet the requirements of the real-time performance and control precision.
| Translated title of the contribution | Optimal Control of Posture Adjustment for Articulated Suspension Vehicle |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 2184-2194 |
| Number of pages | 11 |
| Journal | Binggong Xuebao/Acta Armamentarii |
| Volume | 40 |
| Issue number | 11 |
| DOIs | |
| Publication status | Published - 1 Nov 2019 |