Zhang, Yingzhao (southeast university), Zhang, Sunan (Southeast University), Li, Bingbing (Southeast University), Wang, Yanlin (Southeast University), Zhuang, Weichao (Southeast University)

Body Attitude Controller Design for Wheel-legged Vehicle Based on Spatial Vectors

Scheduled for presentation during the Regular Session "Vehicle control" (FrBT4), Friday, September 27, 2024, 13:30−13:50, Salon 7

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on December 26, 2024

Abstract

Wheel-legged vehicles have attracted significant attention due to their potential for improved traction and operational flexibility across a wide range of conditions. However, maintaining the correct body attitude is crucial for vehicle stability and maneuverability, and it can be challenging to manage in complex driving environments. This paper proposes two space vector-based vehicle body attitude control strategies: body desired attitude control and body balance attitude control. The body desired attitude control method can adjust the vehicle body attitude in real time according to the desired target position, while the body balance attitude control, combined with IMU data, enables stable driving of vehicles on rugged roads. In addition, a hybrid control method combining force and position controls is proposed, tailored to the specific force capabilities of the motors. Finally, the effectiveness and stability of this method for controlling the attitude of a wheel-legged vehicle body are demonstrated through simulations under various road conditions.