Model and control for four-powered-caster vehicle: A probability-based approach

Lianqing Liu, Hiroyasu Iwata, Yong Liu, Yunyi Jia, Ning xi

研究成果: Article査読

抄録

A vehicle with four powered caster wheels can provide much more motion flexibility in a constrained environment. However, the dynamic modelling and control of such system is challenging due to its high redundancy. This paper investigates the dynamic model and tracking control for a four-powered-caster vehicle (4-PCV) on complex terrain without any additional sensor. The torques applied to the wheels are dynamically redistributed based on the real-time conditions of the whole wheel–ground interactions so that the vehicle can track the desired trajectory when moving on different terrains. A dynamic model considering the wheel–ground interaction is first derived. Then a novel approach based on a probability scheme is proposed to identify the status of the vehicle and the wheel slip ratio by only observing the velocity feedback from motors encoders. Based on this real-time perception information, a tracking controller and a torque distribution scheme are applied to make sure that each wheel can be self-adapted to meet a complex wheel–ground condition to eliminate or reduce the probability of slippage. The effectiveness of the proposed estimation approach and the performance of the torque distribution schemes are verified by simulation.

本文言語English
ページ(範囲)875-882
ページ数8
ジャーナルTransactions of the Institute of Measurement and Control
35
7
DOI
出版ステータスPublished - 2013 10月
外部発表はい

ASJC Scopus subject areas

  • 器械工学

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