Abstract
Robot systems are complex systems which include many CPUs and communication networks. In order to control attitude of a wheel-legged robot, a cooperative control framework is designed. The wheel-legged robot has four legs and four wheels, and the wheels are installed on the foot. The wheel-legged robot can adjust its attitude by controlling the position of each leg when it is walking with wheels. In addition, in order to avoid the wheels dangling during the driving of the robot, an impedance control based on force method is applied. Moreover, the centroid height of the robot is controlled to guarantee that the robot has maximum motion space. The cooperative control framework is implemented in a host CPU and four slave CPUs. The host CPU calculates the position of each leg by combining the control variables of attitude controller, centroid height controller and impedance controller based on force. The slave CPUs receive the position command, and then control the position of each leg with active disturbance rejection control (ADRC). ADRC can deal with the internal modeling uncertainty and external disturbances. The application of the proposed method is illustrated in the electric parallel wheel-leg robot system. Experimental results are provided to verify the effectiveness of the proposed method.
Similar content being viewed by others
References
Chen ZB, Liu AF, Li ZT, Choi YJ, Li J (2017) Distributed duty cycle control for delay improvement in wireless sensor networks. Peer-to-Peer Netw Appl 10(3):559–578
Lee Y, Cho J (2018) RFID-Based sensing system for context information management using P2P network architecture. Peer-to-Peer Netw Appl 11(6):1197–1205
Liu AD, Zhang RC, Zhang WA, Teng Y (2017) Nash-optimization distributed model predictive control for multi mobile robots formation. Peer-to-Peer Netw Appl 10(3):688–696
Shen HK, Zhang KH, Nejati A (2017) A noncontact positioning measuring system based on distributed wireless networks. Peer-to-Peer Netw Appl 10(3):823–832
Zhong H, Sheng JQ, Xu Y, Cui J (2017) SCPLBS: A smart cooperative platform for load balancing and security on SDN distributed controllers. Peer-to-Peer Netw Appl
Kim SM, Elliott SJ, Brennan MJ (2001) Decentralized control for multichannel active vibration isolation. IEEE Trans Control Syst Technol 9(1):93–100
Boerlage M, Jager BD, Steinbuch M (2010) Control relevant blind identification of disturbances with application to a multivariable active vibration isolation platform. IEEE Trans Control Syst Technol 18(2):393–404
Heertjes MF, Sahin IH, Wouw NVD, Heemels WPMH (2013) Switching control in vibration isolation systems. IEEE Trans Control Syst Technol 21(3):626–635
Zuo L, Slotine JE, Nayfeh SA (2005) Model reaching adaptive control for vibration isolation. IEEE Trans Control Syst Technol 13(4):611–617
Geng ZJ, Haynes LS (1994) Six degree-of-freedom active vibration control using the Stewart platforms. IEEE Trans Control Syst Technol 2(1):45–53
Kim MH, Kim HY, Kim HC, Ahn D, Gweon D (2016) Design and control of a 6-DOF active vibration isolation system using a Halbach magnet array. IEEE/ASME Trans Mechatronics 21(4):2185–2196
Airimitoaie T, Landau ID (2016) Robust and adaptive active vibration control using an inertial actuator. IEEE Trans Ind Electron 63(10):6482–6489
Chen C, Liu Z, Zhang Y, Chen CLP (2016) Modeling and adaptive compensation of unknown multiple frequency vibrations for the stabilization and control of an active isolation system. IEEE Trans Control Syst Technol 24(3):900–911
Sun W, Gao H, Kaynak O (2015) Vibration isolation for active suspensions with performance constraints and actuator saturation. IEEE/ASME Trans Mechatronics 20(2):675–683
Oomen T, Maas RVD, Rojas CR, Hjalmarsson H (2014) Iterative data-driven H∞ norm estimation of multivariable systems with application to robust active vibration isolation. IEEE Trans Control Syst Technol 22(6):2247–2260
Su ZQ, Zhou M, Han FF, Zhu YQ, Song DL, Guo TT (2018) Attitude control of underwater glider combined reinforcement learning with active disturbance rejection control. J Marine Sci Technol
Liu JG, Gao Q, Liu ZW, Li YM (2016) Attitude control for astronaut assisted robot in the space station. Int J Control Autom Syst 14(4):1082–1095
Zhou C, Jin MH, Liu YC, Zhang Z, Liu Y, Liu H (2017) Singularity robust path planning for real time base attitude adjustment of free-floating space robot. Int J Autom Compu 14(2):169–178
Bittar A, De Oliveira NMF, De Figueiredo HV (2014) Hardware-in-the-loop simulation with X-plane of attitude control of a SUAV exploring atmospheric conditions. J Intell Robot Syst 73(1):271–287
Jin Z, Chen JB, Sheng YZ, Liu XD (2017) Neural network based adaptive fuzzy PID-type sliding mode attitude control for a reentry vehicle. Int J Control Autom Syst 15(1):404–415
Song Z, Sun K (2017) Adaptive compensation control for attitude adjustment of quad-rotor unmanned aerial vehicle. ISA Trans 69:242–255
Alqaudi B, Modares H, Ranatunga I, Tousif SM, Lewis FL, Popa DO (2016) Model reference adaptive impedance control for physical human-robot interaction. Control Theory Tech 14(1):68–82
Xiong GL, Chen HC, Xiong PW, Liang FY (2018) Cartesian impedance control for physical human–robot interaction using virtual decomposition control approach. Iran J Sci Technol Trans Mech Eng
Kim T, Kim HS, Kim J (2016) Position-based impedance control for force tracking of a wall-cleaning unit. Int J Precis Eng Manuf 17(3):323–329
Xu GZ, Song AG, Li HJ (2011) Adaptive impedance control for upper-limb rehabilitation robot using evolutionary dynamic recurrent fuzzy neural network. J Intell Robot Syst 62(3):501–525
Wei B, Li H, Dong Q, Ni W, Jiang Z, Zhang B, Huang Q (2016) An improved variable spring balance position impedance control for a complex docking structure. Int J Soc Robot 8(5):619–629
Han JQ (2009) From PID to active disturbance rejection control. IEEE Trans Ind Electron 56(3):900–906
Herbst G (2016) Practical active disturbance rejection control: Bumpless transfer, rate limitation, and incremental algorithm. IEEE Trans Ind Electron 63(3):1754–1762
Herbst G (2013) A simulative study on active disturbance rejection control (ADRC) as a control tool for practitioners. Electronics 2(3):246–279
Huang Y, Wang JZ, Shi DW, Shi L (2018) Toward event-triggered extended state observer. IEEE Trans Autom Control 63(6):1842–1849
Acknowledgements
The authors would like to thank the Associate Editor and the anonymous reviewers for their suggestions which have improved the quality of the work.
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher’s note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
This article is part of the Topical Collection: Special Issue on Networked Cyber-Physical Systems
Guest Editors: Heng Zhang, Mohammed Chadli, Zhiguo Shi, Yanzheng Zhu, and Zhaojian Li
Rights and permissions
About this article
Cite this article
Peng, H., Wang, J., Shen, W. et al. Cooperative attitude control for a wheel-legged robot. Peer-to-Peer Netw. Appl. 12, 1741–1752 (2019). https://doi.org/10.1007/s12083-019-00747-x
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12083-019-00747-x