Decoupling Control of Multi-Task Compound Motion for Wheeled-Legged Platforms Based on Feedforward Compensation
To solve the problems of speed stability and posture control accuracy on unmanned reconnaissance and transport platforms working for maneuvering transportation in complex combat environments,a decoupling control framework of multi-task priority compound motion was proposed based on feedforward compensation to coordinate dynamically the tasks of wheeled-legged platform with limited-height scenarios.Firstly,joint and wheel dynamics models were established separately to reduce model complexity.Then,a feedforward joint torque calculation was developed based on task priorities,and the feedforward interaction forces at the wheel and feedback control torques were superimposed to minimize the impact of real-time posture adjustments on the ve-locity of the center of mass(COM).Finally,a speed-closed-loop PI controller was adopted,and wheel rolling resistance was introduced to achieve effective transmission from wheel speed to the COM velocity.Simulation results show that the maximum tracking error of the platform's center COM velocity with the proposed control method can be less than 3%during motion in constrained scenarios,providing a feasible control framework for wheeled-legged platforms used in complex environments.
wheeled-legged platformfeedforward compensationtask prioritydecoupling control
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