A Closed-Loop Dynamic Controller for Active Vibration Isolation Working on A Parallel Wheel-Legged Robot

Abstract Serving the Stewart mechanism as a wheel-legged structure, most outstanding superiority of proposed hybrid robot (WLHR) is active vibration isolation function during rolling on rugged terrain. However, it difficult to obtain its precise dynamic model, because nonlinearity and uncertainty heavy robot. This paper presents control framework with decentralized structure for single wheel-leg, position tracking based model predictive (MPC) adaptive impedance module from inside outside. Through Newton-Euler mechanism, controller first creates by combining Newton-Raphson iteration forward kinematic inverse calculation Stewart. The actuating force naturally enables each strut stretch retract, thereby realizing six degrees-of-freedom (6-DOFs) position-tracking wheel-leg. in outermost loop adjusts environmental parameters current feedback wheel-leg along Z -axis. adjustment allows adequately desired support tracking, isolating body that generated unknown availability methodology physical prototype demonstrated Bezier curve while decelerate strips. By comparing proportional integral (PI) constant controllers, better performance algorithm was operated evaluated through displacement sensors internally-installed cylinder, well an inertial measurement unit (IMU) mounted body. significantly enhances accuracy capacity parallel