Fuzzy-Torque Approximation-Enhanced Sliding Mode Control for Lateral Stability of Mobile Robot
针对轮腿机器人在复杂路况下的横向运动控制问题，提出一种结合立方卡尔曼滤波和模糊补偿的滑模控制器，通过仿真和实验验证了其在轨迹跟踪和稳定性控制上的有效性。
Accurate path tracking and stability are the main challenges of lateral motion control in mobile robots, especially under the situation with complex road conditions. The interaction force between robots and the external environment may cause interference, which should be considered to guarantee its path tracking performance in dynamic and uncertain environments. In this article, a flexible lateral control scheme is considered for the developed wheel-legged robot, which consists of a cubature Kalman algorithm to evaluate the centroid slip angle and the yaw rate. Furthermore, a fuzzy compensation and preview angle-enhanced sliding model controller to improve the tracking accuracy and robustness. Finally, some simulations and experimental demonstrations using the four-wheel-legged robot (BIT-NAZA) are carried out to illustrate the effectiveness and robustness, and the proposed method has achieved satisfactory results in high-precision trajectory tracking and stability control of the mobile robot.