Optimal control of the dynamic stability for robotic vehicles in rough terrain

Zhong, Guoliang; Kobayashi, Yukinori; Emaru, Takanori; Hoshino, Yohei

doi:10.1007/s11071-013-0847-2

Cited by 14 publications

(4 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The force-angle stability margin (FASM) [18][19][20] is the most common force-angle-based criterion. It is applicable to systems subject to inertial and external forces and motion on even or uneven terrains.…”

Section: Introductionmentioning

confidence: 99%

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

Long

Xin

Deng

et al. 2015

International Journal of Advanced Robotic Systems

Self Cite

View full text Add to dashboard Cite

This paper presents a study on stability monitoring for a radial symmetrical hexapod robot under dynamic conditions. The force-angle stability margin (FASM) measure method has been chosen as the stability criterion. This is because it is suitable for the stability analysis, in terms of external forces or manipulator loads acting on the body. Considering that a radial symmetrical hexapod robot can tumble along the contact point besides tip-over axis, this paper proposes an improved FASM measure method. Furthermore, it provides the method for calculating the stability angle of contact point and simplifies the algorithm of FASM. To verify the improved FASM measure method, three potential dynamic situations have been simulated. The simulation results confirm that, under dynamic conditions, the improved FASM is efficient, simple in terms of calculation cost and sensitive to manipulator loads and external disturbances. This means it has practical value in on-line controllers.

show abstract

Section: Introductionmentioning

confidence: 99%

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

Long

Xin

Deng

et al. 2015

International Journal of Advanced Robotic Systems

Self Cite

View full text Add to dashboard Cite

show abstract

“…In mathematics, nonlinear programming is to solve an optimization problem defined by a set of equations and inequalities (collectively referred to as constraints) consisting of a series of unknown real functions, accompanied by an objective function to be maximized or minimized, just some constraints or the objective function is non-linear. It is the most common method for optimally handling nonlinear problems [38][39][40][41][42][43][44][45][46]. Taking the minimum square sum of all tire utilization rates as the objective function to distribute the force of each tire, it can ensure that each wheel can remain stable and have a certain stability margin to ensure the stable operation of the vehicle.…”

Section: Optimal Distribution Of the Generalized Drive Torquementioning

confidence: 99%

Research on Decoupled Optimal Control of Straight-Line Driving Stability of Electric Vehicles Driven by Four-Wheel Hub Motors

2021

View full text Add to dashboard Cite

The optimal control strategy for the decoupling of drive torque is proposed for the problems of runaway and driving stability in straight-line driving of electric vehicles driven by four-wheel hub motors. The strategy uses a hierarchical control logic, with the upper control logic layer being responsible for additional transverse moment calculation and driving anti-slip control; the middle control logic layer is responsible for the spatial motion decoupling for the underlying coordinated distribution of the four-wheel drive torque, on the basis of which the drive anti-skid control of a wheel motor-driven electric vehicle that takes into account the transverse motion of the whole vehicle is realized; the lower control logic layer is responsible for the optimal distribution of the driving torque of the vehicle speed following control. Based on the vehicle dynamics software Carsim2019.0 and MATLAB/Simulink, a simulation model of a four-wheel hub motor-driven electric vehicle control system was built and simulated under typical operating conditions such as high coefficient of adhesion, low coefficient of adhesion and opposing road surfaces. The research shows that the wheel motor drive has the ability to control the stability of the whole vehicle with large intensity that the conventional half-axle drive does not have. Using the proposed joint decoupling control of the transverse pendulum motion and slip rate as well as the optimal distribution of the drive force with speed following, the transverse pendulum angular speed and slip rate can be effectively controlled with the premise of ensuring the vehicle speed, thus greatly improving the straight-line driving stability of the vehicle.

show abstract

“…Such modeling will depend on the configuration of each robot, e.g. differential type [45], [46], omnidirectional [47], classic tricycle [48], unicycle [49], and another configurations [50], [51]. It is important to mention that these models do not contemplate the slip, which is caused due to uneven ground.…”

Section: Wheeled Mobile Robotsmentioning

confidence: 99%

Trajectory Tracking Task in Wheeled Mobile Robots: A Review

Sosa-Cervantes

Silva‐Ortigoza

Márquez-Sánchez

et al. 2014

2014 International Conference on Mechatronics, Electronics and Automotive Engineering

View full text Add to dashboard Cite

Over the last decades, research on the trajectory tracking task in wheeled mobile robots (WMR) has grown steadily. Nowadays, the WMR are present in most of the existing scientific fields, likewise, they have a wide number of applications in society. Therefore, this paper gives a literate review related to the trajectory tracking task in WMR. At the same time, a brief history of robotics, application of WMR, and the most relevant solutions for the trajectory tracking task are presented.

show abstract

Optimal control of the dynamic stability for robotic vehicles in rough terrain

Cited by 14 publications

References 26 publications

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

Research on Decoupled Optimal Control of Straight-Line Driving Stability of Electric Vehicles Driven by Four-Wheel Hub Motors

Trajectory Tracking Task in Wheeled Mobile Robots: A Review

Contact Info

Product

Resources

About