Abstract
The complexity of control algorithms and their vulnerability to disturbances and failures are the main problems that restrict the operations of multi-legged mobile robots in more complex environments. In this paper, a multiple extended state observer (ESO) based control strategy is proposed to achieve stable tilt angle control for quadruped robots under the influence of disturbances and actuator failures. By treating the multiple legs as parallel control objects, more ESOs were added to improve the disturbance rejection ability of the linear active disturbance rejection control (LADRC). Correlation of interactive information about the legs is realized by the synthesis of multiple ESO information. Based on LADRC, this method has the advantages of easy parameter tuning, good robustness, and strong ability to cope with interference and fault conditions. A control system reliability evaluation method was proposed. The reliability and control performance of the multi-ESO based control system under leg stuck failure conditions were systematically analyzed. Simulation and experimental results for the level adjustment control system of a quadruped robot are provided to verify the disturbance rejection ability, feasibility and practicability of the proposed multi-ESO based control method
Highlights
With the rapid development of technology and increase in performance requirements, the complexity of multi-legged robots has increased in terms of mechanical structures and control algorithms, which has led to challenges in guaranteeing the reliability of the systems
With the strong robustness and performance of the extended state observer (ESO) based control method, the parameters were obtained through tuning in the simulation, and relatively good parameters were set as ωc=21, ω0=42, and b0=380
The standard LADRC control scheme uses the same parameters as the multi-ESO-based control method
Summary
With the rapid development of technology and increase in performance requirements, the complexity of multi-legged robots has increased in terms of mechanical structures and control algorithms, which has led to challenges in guaranteeing the reliability of the systems. Stable control under the influence of disturbances and failures is critical for multi-legged mobile robot systems. Researchers have made efforts to promote the reliability and disturbance rejection ability of mobile robot control systems. Christensen et al [2] designed a distributed control strategy for self-reconfigurable modular robots. Et al [5] proposed an intelligent self-adaption control method for a six-legged robot. The researchers attempted to use intelligent distribution methods to address interactions and information crossover between multiple actuators. In the literature [4], a series control scheme based on active disturbance rejection control (ADRC)
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