Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain

Abstract

Base stability for a wheeled robot while driving over rough terrain is a challenging issue. This paper proposes a novel base-stability control framework, consisting of an AVIC (adaptive variable-impedance control), AVIC-based tracking controller, and a THV (terrain height variation) and AC (attitude control) AC-based controller to stabilize the base on rough terrain. The AVIC-based controller aims to track the desired trajectory of the robot base while suppressing lumped disturbance, including system uncertainties in the internal dynamics and unknown external disturbance. The THV-based controller is utilized as a feedforward controller to improve posture tracking performance in order to achieve a horizontal posture. The AC-based controller is employed to maintain the horizontal posture of the base. The effectiveness and robustness of the proposed controllers are validated by a series of numerical trials, and the results are evaluated.

A Novel Design of a Small Adaptive Bionic Obstacle-crossing Vehicle

“…Meanwhile, they carried out a simulation study on the obstacle-crossing ability of the mobile robot using Automatic Dynamic Analysis of Mechanical System (ADAMS) software. Xu et al (14) proposed a new stability control method of the chassis of a wheeled vehicle traveling on rough terrain to improve its attitude tracking performance. In addition, they verified the effectiveness and robustness of the proposed control method through a series of numerical tests, and found that the stability of the robot in motion is satisfactory.…”