Passivity-Based Adaptive Controller for Dynamic Self-Leveling of a Custom-Built Landing Platform on Top of a UGV

Abstract

A Passivity-Based Adaptive Controller (PBAC) is derived and tested for the integrated Argo J5 Skid Steering Mobile Robot (SSMR) and custom-built landing platform. The twofold aim is to demonstrate landing platform dynamic self-leveling accuracy, coupled with accurate Argo J5 trajectory tracking in rough and uneven terrains. The overall system dynamic model based on Euler-Lagrange and Terramechanics theory is summarized, followed by derivation of the PBAC. Performance is first tested/evaluated in a MATLAB/Simulink environment using actual/experimentally identified Argo J5-landing platform physical parameter values and constraints. Results are, then, verified/validated using the V-REP Simulation Package. Different terrain slope angles, different platform initial angles, and different realistic Argo J5 velocities are used in all studies. It is observed that dynamic self-leveling is achievable for Argo J5 slow velocities and small slope terrain angles. Results also reveal current design limitations that need to be overcome before actual testing.