Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots

Kamidi, Vinay R.; Kim, Jeeseop; Fawcett, Randall T.; Ames, Aaron D.; Hamed, Kaveh Akbari

doi:10.1109/lcsys.2022.3167795

Cited by 5 publications

(5 citation statements)

References 33 publications

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“…Based on the results of the road coefficient identification, the torque assignment problem can be converted into a quadratic programming problem with constraints, which can be solved using the effective set method, and then the actual output torque of each wheel can be achieved. In addition, the basic idea of the effective set method is to treat the inequality constraint as an equation constraint in each iteration and ignore other nonfunctional inequality constraints [32,33].…”

Section: Slip Rate Adhesionmentioning

confidence: 99%

Adaptive Stability Control Based on Sliding Model Control for BEVs Driven by In-Wheel Motors

Guo

Feng

et al. 2023

Sustainability

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High-speed and complex road conditions make it easy for vehicles to reach limit conditions, increasing the risk of instability. Consequently, there is an urgent need to solve the problem of vehicle stability and safety. In this paper, adaptive stability control is studied in BEVs driven by in-wheel motors. Based on the sliding model algorithm, a joint weighting control of the yaw rate and sideslip angle is carried out, and a weight coefficient is designed using a fuzzy algorithm to realize adaptive direct yaw moment control. Next, optimal torque distribution is designed with the minimum sum of four tire load rates as the optimization objective. Then, combined with the road adhesion coefficient and the maximum motor torque constraint, the torque distribution problem is transformed into a functionally optimal solution problem with constraints. The simulation results show that the direct yaw moment controller based on the adaptive sliding mode algorithm has a good control effect on the yaw rate and sideslip angle, and it can effectively improve vehicle adaptive stability control. In the optimal torque distributor based on road surface recognition, the estimated error of road adhesion is within 10%, and has a greater margin to deal with vehicle instability, which can effectively improve vehicle adaptive stability control.

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Section: Slip Rate Adhesionmentioning

confidence: 99%

Adaptive Stability Control Based on Sliding Model Control for BEVs Driven by In-Wheel Motors

Guo

Feng

et al. 2023

Sustainability

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“…The three-legged robot in Figure 1 is fully actuated, and according to (14), there is a direct relationship between the selected independent control variables and the joint torques.…”

Section: Double Hyperbolic Sliding Mode Controlmentioning

confidence: 99%

“…where 𝜁 = [𝜁 1 , 𝜁 2 , … , 𝜁 n ] T is the state vector of the auxiliary system, 𝛼 = diag(𝛼 1 , 𝛼 2 , … , 𝛼 n ) and 𝛽 = diag(𝛽 1 , 𝛽 2 , … , 𝛽 n ) are positive diagonal matrices. Consider the input torque in (14) as:…”

Section: Anti-wind Up Dhsmcmentioning

confidence: 99%

“…When using the ZMP balance criterion, the robot's speed is limited, and the robot must have a flat-footed walking. The major weakness of [14] is the lack of stability proof and using the center of mass criterion for balance. Another well known strategy for balanced walking of legged robots is the Hybrid Zero Dynamics (HZD) method [20][21][22].…”

Section: Introductionmentioning

confidence: 99%

“…Besides the balance problem, the main challenges for legged robots are their stability and control due to the nonlinearity of dynamics, model uncertainties and high complexity of the system [4,5]. In this regard, several control methods, including feedback linearization control [6], robust control [7], robust adaptive control [8], neural network control [9], fuzzy control [10][11][12], model predictive control [13], quadratic programming nonlinear control legged robots [14] and SMC [15][16][17][18] have been applied to legged robots. The main approach used for solving balance problem in many of these methods is based on zero moment point (ZMP) [10,11,19].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Double hyperbolic sliding mode control of a three‐legged robot with actuator constraints

Ghoreishi

Ehyaei

Rahmani

2022

IET Control Theory & Appl

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This paper proposes an anti-wind up double hyperbolic sliding mode controller (AWDH-SMC) in the presence of torque constraints for a three-legged robot. The legged robot's dynamics are nonlinear, hybrid and complex. Based on the challenges mentioned, this study focuses on designing a sliding mode controller (SMC) for a fully actuated three-legged robot to achieve fast tracking and convergence. On the other hand, the torques generated by the actuators are limited. As a result, not only must the controller be fast so that the robot's balance is not disturbed, but it must also withstand applied torque constraints. Therefore, the double hyperbolic sliding mode controller is designed at first for fast tracking and convergence. Next, an anti-wind up compensator is used to apply torque constraints. Finally, using the theory of multiple Lyapunov functions, the stability of the closed-loop control system for the hybrid model of legged-robot is analyzed. Simulation results validate the effectiveness of the proposed control scheme.

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Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots

Yang,

Norby,

Yim

et al. 2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots

Cited by 5 publications

References 33 publications

Adaptive Stability Control Based on Sliding Model Control for BEVs Driven by In-Wheel Motors

Adaptive Stability Control Based on Sliding Model Control for BEVs Driven by In-Wheel Motors

Double hyperbolic sliding mode control of a three‐legged robot with actuator constraints

Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots

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