Sliding Mode Control for Wheel-Legged Biped Robot Balance
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Solution Overview
Problem
Wheel-legged biped robots face challenges in maintaining balance due to nonlinear dynamic characteristics and external interferences, particularly in complex terrain, leading to poor robustness and increased tipping probability.
Innovation Solution
A kinetic model-based sliding mode control method using a double power reaching law and adaptive sliding mode control is employed to enhance the robot's adaptability to uncertain disturbances, improving balance and robustness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a PID controller is used to control the wheel-legged biped robot, then the control implementation is simple, but the robot has poor robustness and difficulty maintaining balance in complex terrain due to nonlinear dynamic characteristics and external interferences
Solution Approach 1:
The patent transforms the control approach by changing from traditional PID parameter tuning to sliding mode control parameters (sliding surface coefficients, reaching law parameters). This parameter transformation enables the system to handle nonlinear dynamics and external disturbances effectively while maintaining controllability, resolving the contradiction between simple implementation and reliable balance maintenance
Solution Approach 2:
The patent implements continuous feedback through the sliding mode control mechanism, where the sliding surface s(q, q̇) continuously monitors the system state deviation from desired trajectory. The feedback loop dynamically adjusts control inputs based on real-time state information, enabling robust balance maintenance in complex terrain while keeping the control structure relatively simple
2Device complexity
If traditional control methods are used, then the control structure is simple, but the robot shows increased tipping probability in complex terrain environments
Solution Approach 1:
The patent applies dynamic control through sliding mode control that adapts to changing terrain conditions and robot states. The control law dynamically adjusts based on the sliding surface and reaching law, allowing the robot to maintain stability in complex terrain without requiring overly complex mechanical structures or control architectures
Solution Approach 2:
The patent uses preliminary action by defining the sliding surface and reaching law in advance, which pre-establish the control strategy for handling disturbances. This preliminary setup allows the robot to proactively counteract potential tipping forces before they cause instability, maintaining balance stability without adding complex real-time decision-making structures
Data Source
AI summary
A robot control method, and a computer-readable storage medium and a wheel-legged biped robot using the same are provided. The method includes: determining a kinetic model of the wheel-legged biped robot; determining, using the kinetic model, a sliding surface of the wheel-legged biped robot; determining, according to the sliding surface, a double power reaching law and a sliding mode control law of the wheel-legged biped robot; and controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot. Through the above-mentioned method, the adaptability of the wheel-legged biped robot to uncertain external disturbances can be enhanced, thereby improving its robustness to effectively maintain its balance even in the environment with complex terrain.