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Optimal control of the dynamic stability for robotic vehicles in rough terrain

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Abstract

In this paper, we mount semi-active suspensions between the wheels and platform of a robotic vehicle to absorb the vibrations caused by movement over rough terrain. The semi-active suspension consists of a spring and a magneto-rheological damper. By combining the dynamic model of the suspended robotic vehicle and the control model of the damper, we propose a new methodology to evaluate the dynamic stability of the vehicle. The model considers the configuration of semi-active suspensions and the road-holding ability of robotic vehicles. Based on the stability criterion, we use the particle swarm optimization method to search the optimum semi-active dam** characteristics. The control model of the semi-active damper is checked by sinusoidal response analysis. To verify the dynamic stability criterion and the control method, we evaluate the proposed methodology by simulating a rough pavement condition and comparing the effectiveness of the method to a passive suspension. The results show that the proposed stability criterion is feasible, and the optimal control method yields a substantially improved dynamic stability when the vehicle moves through rough terrain.

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Acknowledgements

This research is supported by the China Scholarship Council under grant number 2010615017 and Hokkaido University.

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Authors and Affiliations

  1. Graduate School of Engineering, Hokkaido University, Sapporo, Hokkaido, 0608628, Japan

    Guoliang Zhong

  2. Faculty of Engineering, Hokkaido University, Sapporo, Hokkaido, 0608628, Japan

    Yukinori Kobayashi, Takanori Emaru & Yohei Hoshino

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  1. Guoliang Zhong
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  2. Yukinori Kobayashi
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  3. Takanori Emaru
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  4. Yohei Hoshino
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Correspondence to Guoliang Zhong.

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Zhong, G., Kobayashi, Y., Emaru, T. et al. Optimal control of the dynamic stability for robotic vehicles in rough terrain. Nonlinear Dyn 73, 981–992 (2013). https://doi.org/10.1007/s11071-013-0847-2

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  • DOI: https://doi.org/10.1007/s11071-013-0847-2

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