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Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

Chuang Cheng (Department of Automatic Control, National University of Defense Technology, Changsha, China)
Hui Zhang (Department of Automatic Control, National University of Defense Technology, Changsha, China)
Hui Peng (Department of Automatic Control, National University of Defense Technology, Changsha, China)
Zhiqian Zhou (Department of Automatic Control, National University of Defense Technology, Changsha, China)
Bailiang Chen (Department of Automatic Control, National University of Defense Technology, Changsha, China)
Zhiwen Zeng (Department of Automatic Control, National University of Defense Technology, Changsha, China)
Huimin Lu (Department of Automatic Control, National University of Defense Technology, Changsha, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 9 June 2021

Issue publication date: 22 July 2021

364

Abstract

Purpose

When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator.

Design/methodology/approach

In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation.

Findings

The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time.

Originality/value

This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

Keywords

Acknowledgements

Research funding: This work was supported in part by the National Science of China: 62003358 and U1913202.

Citation

Cheng, C., Zhang, H., Peng, H., Zhou, Z., Chen, B., Zeng, Z. and Lu, H. (2021), "Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control", Assembly Automation, Vol. 41 No. 3, pp. 369-383. https://doi.org/10.1108/AA-10-2020-0157

Publisher

:

Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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