Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control
المؤلفون المشاركون
Tan, Yongying
Chao, Zhiqiang
Han, Shousong
Li, Huaying
Liu, Xiangbo
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-13، 13ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2020-07-08
دولة النشر
مصر
عدد الصفحات
13
التخصصات الرئيسية
الملخص EN
Aiming at the control problems for load variations of the load-carrying quadruped walking vehicle, the method combining centroidal dynamics and adaptive sliding mode control is proposed to ensure the weight adaptation and improve the tracking accuracy of forward speed and lateral speed.
The motion control of the walking vehicle is divided into two parts: torso motion control and swinging legs motion control.
The control methods of centroidal dynamics and task space PD are applied to the motion control of the torso, and the virtual model control method is applied to the motion control of swinging legs.
Then, the adaptive sliding mode control algorithm is applied in the height direction of the vehicle to realize the adaptation to weight change and the weight identification, and the tracking accuracy of forward speed and lateral speed is improved by combining the centroidal dynamics.
Adams and Simulink are used to simulate the trotting gait on the flat ground and slope when the weight of walking vehicle changes, and comparisons are made with the virtual model control method.
The results show that the method combining centroidal dynamics and adaptive sliding mode control can realize the adaptability to load variations and reduce the forward speed and lateral speed tracking error, which proves the effectiveness of the proposed control method.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Tan, Yongying& Chao, Zhiqiang& Han, Shousong& Li, Huaying& Liu, Xiangbo. 2020. Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1197677
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Tan, Yongying…[et al.]. Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control. Mathematical Problems in Engineering No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1197677
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Tan, Yongying& Chao, Zhiqiang& Han, Shousong& Li, Huaying& Liu, Xiangbo. Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1197677
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1197677
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر