TY - GEN
T1 - Motion Control Strategy of Wheel-Legged Compound Unmanned Vehicle
AU - Ren, Xiaolei
AU - Liu, Hui
AU - Xie, Jingshuo
AU - Qin, Yechen
AU - Han, Lijin
AU - Liu, Baoshuai
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - This paper proposes a motion control strategy for the wheel-legged compound unmanned vehicle, including attitude control and driving control. Firstly, based on tire mechanics, Lagrangian method and D’Alembert’s principle, the dynamic modeling of the driving system, wheel-legged system and vehicle body is carried out respectively. On this basis, a layered parallel control architecture is proposed. The upper-level controller consists of a driving system controller and a wheel-legged system controller. The former is used to control the longitudinal, lateral and yaw motions of the vehicle based on the model predictive control method, and the latter is used to adjust the longitudinal, pitch and roll motions of the vehicle based on PD control. The lower-level controller is used to control the output torque of the vehicle motor based on the PI control method. Finally, three typical working conditions are designed to verify the attitude control and driving control of the vehicle. The simulation results show the accuracy and stability of the designed controller to track the target command.
AB - This paper proposes a motion control strategy for the wheel-legged compound unmanned vehicle, including attitude control and driving control. Firstly, based on tire mechanics, Lagrangian method and D’Alembert’s principle, the dynamic modeling of the driving system, wheel-legged system and vehicle body is carried out respectively. On this basis, a layered parallel control architecture is proposed. The upper-level controller consists of a driving system controller and a wheel-legged system controller. The former is used to control the longitudinal, lateral and yaw motions of the vehicle based on the model predictive control method, and the latter is used to adjust the longitudinal, pitch and roll motions of the vehicle based on PD control. The lower-level controller is used to control the output torque of the vehicle motor based on the PI control method. Finally, three typical working conditions are designed to verify the attitude control and driving control of the vehicle. The simulation results show the accuracy and stability of the designed controller to track the target command.
KW - attitude control
KW - driving control
KW - layered parallel control architecture
KW - model predictive control
KW - motion control
KW - wheel-legged compound unmanned vehicle
UR - http://www.scopus.com/inward/record.url?scp=85161444313&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-1365-7_17
DO - 10.1007/978-981-99-1365-7_17
M3 - Conference contribution
AN - SCOPUS:85161444313
SN - 9789819913640
T3 - Lecture Notes in Electrical Engineering
SP - 228
EP - 246
BT - Proceedings of China SAE Congress 2022
PB - Springer Science and Business Media Deutschland GmbH
T2 - Society of Automotive Engineers - China Congress, SAE-China 2022
Y2 - 22 November 2022 through 24 November 2022
ER -