Bi-Level Optimization for Closed-Loop Model Reference Adaptive Vibration Control in Wheeled-Legged Multimode Vehicles

The wheeled-legged multimode vehicle (WLMV) combines the merits of both wheel and quadruped platforms and is gradually becoming a major development for high-mobility transportation in complex scenarios. To enhance the motility of the WLMV in challenging terrains, this article proposes a bi-level optimization closed-loop model reference adaptive vibration control method (BO-CMRAC). The parameters and control weights of the reference model are determined through a bi-level optimization approach, which includes offline optimization and online weights selection, to coordinate motility and vibration suppression capabilities across varying scenarios. The dynamic characteristics of the actuator are modeled and incorporated into the closed-loop reference model to further improve the robustness and performance of the controller. A WLMV experimental platform is established to validate the proposed vibration control strategy on different roads. The results indicate that the proposed BO-CMRAC can effectively suppress the vibration of the WLMV compared to current algorithms.