Research On Dynamics Analysis And Robust Control Of Six-legged Rolling Running Robot

Due to its special structure,the wheel-legged composite mobile robot combines the advantages of wheeled robots and legged robots,and has the characteristics of rapidity and strong terrain adaptability,and has become the focus of research at home and abroad.Although certain results have been achieved for compound mobile robots at this stage,there are still some problems and difficulties in actual theoretical research.The six-legged rolling running robot studied in this paper is a typical wheeled-legged compound robot.,The six-legged robot are divided into two groups and are evenly staggered on both sides of the fuselage.The single legs alternately support and move forward.It can be regarded as an alienated form of a one-legged jumping robot.This article focuses on the dynamics and control of this six-legged robot.Issue research.In terms of robot dynamics modeling,based on the classic spring-loaded pendulum and unicycle robot model,the entire robot system is decoupled into two motion directions,pitch and roll,and Lagrange is used for the systems in both directions.The method established its dynamic model,simplified the dynamic model according to the movement characteristics of the robot,and finally obtained the standard dynamic equations in two directions,which laid the foundation for the dynamic analysis of the robot.Aiming at the problem of robot dynamics analysis,according to the structural characteristics of the robot,the dynamic equations of the pitch and roll motion directions are specially linearized at the equilibrium point of the robot.According to the state space equation,it is judged that the two systems are unstable,and the two systems are controllable and observable,and the influence of the center of gravity of the wheel legs of the robot and the moment of inertia of the flywheel on the system is analyzed according to the dynamic equation,which provides a theoretical basis for the subsequent robust control research of the robot.Aiming at the problem of robust control of the robot,a sliding mode robust controller and a back-step sliding mode controller are designed in the pitch direction and roll direction of the system.Among them,the sliding mode robust control algorithm based on HJI theory is used in the pitch direction.The algorithm takes into account the external interference of the system,and designs a sliding mode control law that satisfies the robust control conditions of the HJI inequality,and analyzes it using the Lyapunov stability theory.The stability of the system;the sliding mode term is introduced on the basis of the back-stepping control method in the roll direction,and the back-step sliding mode controller is designed to ensure the robustness of the controller.MATLAB is used for simulation verification,and the robustness of the two control algorithms in the robot's pitch and roll directions is verified under the given disturbance.In the robot path planning problem,aiming at the problem of the shortest distance between multiple target points of the robot path,the traveling salesman problem is used to find the shortest path,the genetic algorithm is introduced to increase the robustness of the algorithm,and the steps and important parameters of the algorithm are carried out.Discussed in detail,and finally the algorithm was simulated and verified on MATLAB,which proved that the trajectory solved by the genetic algorithm was the optimal reference trajectory,which provided a reference for the path planning of the mobile robot.