System identification and control of the ground operation mode of a hybrid aerial-ground robot
Muqing Cao
Xinhang Xu
Kun Cao
Lihua Xie
School of Electrical and Electronic Engineering,Nanyang Technological University,Singapore,Singapore
摘要：This paper presents an in-depth analytical and empirical assessment of the performance of DoubleBee,a novel hybrid aerial-ground robot.Particularly,the dynamic model of the robot with ground contact is analyzed,and the unknown parameters in the model are identified.We apply an unscented Kalman filter-based approach and a least square-based approach to estimate the parameters with given measurements and inputs at every time step.Real data are collected and used to estimate the parameters;test data verify that the values obtained are able to model the rotation of the robot accurately.A gain-scheduled feedback controller is proposed,which leverages the identified model to generate accurate control inputs to drive the system to the desired states.The system is proven to track a constant-velocity reference signal with bounded error.Simulations and real-world experiments using the proposed controller show improved performance than the PID-based controller in tracking step commands and maintaining attitude under robot movement.
机标关键词：identificationoperationcontrolhybridrobotsystemmodeaerial-ground
论文发表日期：2023-08-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：11( 458-468 )
英文信息