Vibration Control for Wheel-Legged Unmanned Platform

Vibration control of wheeled-legged unmanned platform in complex environments has profound implications for enhancing vehicle maneuverability and mobility. A model reference optimal control (MROC) framework to improve vertical dynamics responses of the wheel-legged platform is presented. By establishing a reference model and equivalently representing the wheeled-legged configuration as a quarter-vehicle model, and designing an LQR controller to optimize the control objectives and calculate the optimal control forces. Developing the kinematic and dynamic models of the wheeled-legged platform to analyze the system's responses during motion. Designing the simulations in MATLAB/Simulink environment to verify the effectiveness of the MROC algorithm. The simulation results show that the MROC controller can effectively suppress the vibration of the wheeled-legged platform and improve the performance of the system in complex terrains, which provides a new perspective for wheel-legged vibration control method.