Reconfiguration motion analysis and motion quality control of an unmanned metamorphic vehicle

Abstract

In order to meet the reconfiguration motion quality requirements for unmanned metamorphic vehicles, a system comprehensive controller and control optimization algorithm was designed. Kinematic model and dynamic models of the reconfiguration process of an unmanned metamorphic vehicle were established. A smoothness design based on quintic polynomial planning and a horizontal design based on the parallel mechanism motion was carried on. A particle-swarm-optimization-based sliding mode controller was designed to control the smoothness of the reconfiguration motion, while a fuzzy proportional-integral-derivative (PID) controller was designed to control the stability of the reconfiguration motion through a center-of-mass position-adjusting mechanism. Both simulation and experimental results show that the integrated particle-swarm sliding mode and fuzzy PID controllers could effectively control smooth reconfiguration motion of each joint in the unmanned metamorphic vehicle and maintain reconfiguration stability of the unmanned metamorphic vehicle under a variety of working conditions.