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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:
    Zhu, Zhewei (author) / Zhou, Yunping (author) / Bai, Guangyu (author) / Guo, Mengyang (author) / Qin, Yechen (author)


    Publication date :

    2023-10-27


    Size :

    4136646 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Legged vehicle control and vibration reduction

    Zaier,R. / Abdo,J. / Sultan Qaboos Univ.,OM | Automotive engineering | 2012


    Legged vehicle control and vibration reduction

    Zaier, Riadh | Online Contents | 2012


    A Survey of Wheeled-Legged Robots

    Bjelonic, Marko / Klemm, Victor / Lee, Joonho et al. | Springer Verlag | 2022


    ODYSSEUS robot: the wheeled/legged version

    Bourbakis, N.G. | IEEE | 1992


    A Survey of Wheeled-Legged Robots

    Bjelonic, Marko / Klemm, Victor / Lee, Joonho et al. | TIBKAT | 2023