Integrated Adaptive Compliance Control for Wheeled-legged Platforms Based on State Estimation

doi:10.12382/bgxb.2025.0327

Abstract

Abstract:

As a new type of special vehicle,the wheeled-legged platform (WLP) extends the degrees of freedom at the wheel ends,and has the potential of traveling at high-speed in complex terrain.However,the vertical-longitudinal coupled dynamics of two-stage actuation unit and the unmeasurable states pose significant challenges to speed tracking and terrain-adaptive compliance control on uneven roads.To address these issues,this paper proposes an integrated adaptive compliance control method based on state estimation.Firstly,the forward and inverse kinematic models of the WLP are developed based on its movement configuration,and the reference dynamic models for vertical vibration damping and longitudinal compliance are constructed using the virtual model approach.Then an integrated adaptive compliance control framework in vertical-longitudinal directions is established.It incorporates longitudinal terminal sliding mode control,vertical optimal vibration damping control,and Kalman filtering to finally achieve the speed tracking and terrain adaptation under a reference posture.Tests under various conditions validate the effectiveness and stability of the newly proposed integrated compliance control method.For example,the peak vertical acceleration under the bumpy road condition is less than 1.1 m/s².

Key words: wheeled-legged platform, two-stage actuation unit, integrated compliance control, state estimation

CLC Number:

TP242.6

YANG Haiyang, WU Jiajun, LIU Hui, HAN Lijin, NIE Shida, XIANG Changle. Integrated Adaptive Compliance Control for Wheeled-legged Platforms Based on State Estimation[J]. Acta Armamentarii, 2025, 46(11): 250327-.

Figures/Tables 20

Fig.1 Wheeled-legged platform and modular two-stage actuation unit

Fig.2 Coordinate system and related variable definitions in platform kinematics model

Fig.3 Roll kinematics in platform

Fig.4 Dynamic model of two-stage actuation unit

Fig.5 Dynamic model for vertical vibration control

Fig.6 Dynamic model for longitudinal compliance control

Fig.7 Adaptive integrated compliance control framework in vertical-longitudinal directions of wheel-legged platforms

Fig.8 Simulation conditions on the proposed IACC method

Table 1 Model parameters of platform

参数	数值	参数	数值
m_b/kg	48	k_s_xi/(N·m^-1)	5000
m_w_i/kg	3	c_s_xi/(N·s·m^-1)	150
l₁/m	0.3	k_s_zi/(N·m^-1)	6000
l₂/m	0.3	c_s_zi/(N·s·m^-1)	200
r/m	0.1	I_r/(kg·m²)	1.1
L/m	0.8	I_r/(kg·m²)	2.5
B/m	0.5	τ_jot,max/(N·m)	120

Fig.9 Comparison of speed tracking for acceleration and deceleration conditions

Fig.10 Comparison of pitch angles during acceleration and deceleration in acceleration and deceleration conditions

Fig.11 Comparison of speed tracking for speed bump conditions

Fig.12 Comparison of attitude angle variations in speed bump conditions

Fig.13 Vertical response curves of sprung mass in speed bump conditions

Fig.14 Comparison of speed tracking for alternating single-side bridge condition

Fig.15 Comparison of attitude angle responses in alternating single-side bridge condition

Fig.16 Vertical response curves of sprung mass in alternating single-side bridge condition

Fig.17 Vertical velocity estimation curve in speed bump condition

Fig.18 Speed bump test scenario for wheeled-legged platform

Fig.19 Vertical response characteristics in speed bump condition

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