TY - GEN
T1 - Vibration Control for Wheel-Legged Unmanned Platform
AU - Bai, Guangyu
AU - Zhu, Zhewei
AU - Xu, Mingfan
AU - Zhou, Yunping
AU - Qin, Yechen
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Vibration control of wheeled-legged unmanned platform in complex environments has profound implications for enhancing vehicle maneuverability and mobility. A model reference optimal control (MROC) framework to improve vertical dynamics responses of the wheel-legged platform is presented. By establishing a reference model and equivalently representing the wheeled-legged configuration as a quarter-vehicle model, and designing an LQR controller to optimize the control objectives and calculate the optimal control forces. Developing the kinematic and dynamic models of the wheeled-legged platform to analyze the system's responses during motion. Designing the simulations in MATLAB/Simulink environment to verify the effectiveness of the MROC algorithm. The simulation results show that the MROC controller can effectively suppress the vibration of the wheeled-legged platform and improve the performance of the system in complex terrains, which provides a new perspective for wheel-legged vibration control method.
AB - Vibration control of wheeled-legged unmanned platform in complex environments has profound implications for enhancing vehicle maneuverability and mobility. A model reference optimal control (MROC) framework to improve vertical dynamics responses of the wheel-legged platform is presented. By establishing a reference model and equivalently representing the wheeled-legged configuration as a quarter-vehicle model, and designing an LQR controller to optimize the control objectives and calculate the optimal control forces. Developing the kinematic and dynamic models of the wheeled-legged platform to analyze the system's responses during motion. Designing the simulations in MATLAB/Simulink environment to verify the effectiveness of the MROC algorithm. The simulation results show that the MROC controller can effectively suppress the vibration of the wheeled-legged platform and improve the performance of the system in complex terrains, which provides a new perspective for wheel-legged vibration control method.
KW - complex en-vironments
KW - linear quadratic regulator
KW - model reference optimal control
KW - wheel-legged unmanned platform
UR - http://www.scopus.com/inward/record.url?scp=85180126788&partnerID=8YFLogxK
U2 - 10.1109/ICUS58632.2023.10318345
DO - 10.1109/ICUS58632.2023.10318345
M3 - Conference contribution
AN - SCOPUS:85180126788
T3 - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
SP - 865
EP - 870
BT - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Y2 - 13 October 2023 through 15 October 2023
ER -