System identification and control of the ground operation mode of a hybrid aerial-ground robot
作者机构：School of Electrical and Electronic EngineeringNanyang Technological UniversitySingaporeSingapore
出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)
年 卷 期：2023年第21卷第3期
页 面：458-468页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
主 题：Modelling Parameter identification Hybrid robots Robot control
摘 要：This paper presents an in-depth analytical and empirical assessment of the performance of DoubleBee,a novel hybrid aerial-ground ***,the dynamic model of the robot with ground contact is analyzed,and the unknown parameters in the model are *** 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 *** 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 *** system is proven to track a constant-velocity reference signal with bounded *** 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.
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