Model Reference Adaptive Vibration Control For Wheeled-legged Multi-mode Vehicle

The control of vibration in a wheel-motion multi-mode vehicle is the core technology required for improving the efficiency of vehicle transportation in unstructured environment. This paper constructs a kinematics and dynamics model of the wheeled-legged multi-mode vehicle and proposes a force tracking-based model reconstitution framework. By applying the ideal vibration-reduced system as the reference model, the model reference adaptive control (MRAC) strategy is utilized to reconstitute an equivalent system in the multi-mode vehicle. A multi-body dynamics model in Adams/View is formulated to validate the effectiveness of the proposed method. The simulation results show that the multi-mode vehicle in MRAC achieves comparable performance with the reference ideal model and increasing stability and smoothness on different roads, which provides a new perspective for multi mode vehicle vibration control.