The control of vibration in a wheel-motion multi-mode vehicle is the core technology required for improving the efficiency of vehicle transportation in unstructured environment. This paper constructs a kinematics and dynamics model of the wheeled-legged multi-mode vehicle and proposes a force tracking-based model reconstitution framework. By applying the ideal vibration-reduced system as the reference model, the model reference adaptive control (MRAC) strategy is utilized to reconstitute an equivalent system in the multi-mode vehicle. A multi-body dynamics model in Adams/View is formulated to validate the effectiveness of the proposed method. The simulation results show that the multi-mode vehicle in MRAC achieves comparable performance with the reference ideal model and increasing stability and smoothness on different roads, which provides a new perspective for multi mode vehicle vibration control.


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    Titel :

    Model Reference Adaptive Vibration Control For Wheeled-legged Multi-mode Vehicle


    Beteiligte:
    Zhu, Zhewei (Autor:in) / Zhou, Yunping (Autor:in) / Bai, Guangyu (Autor:in) / Guo, Mengyang (Autor:in) / Qin, Yechen (Autor:in)


    Erscheinungsdatum :

    27.10.2023


    Format / Umfang :

    4136646 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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