Research on Adaptive Control Strategy of Five-link Wheel-legged Robot Based on Model Predictive Control Linear Active Disturbance Rejection Control

摘要

Compared with traditional wheeled or legged robots, wheeled legged robots can maintain better stability in unstable terrain, but nonlinear system control of wheeled legged robots in strongly disturbed terrain still faces challenges. This article proposes an integrated adaptive control strategy that integrates two control models based on the kinematic characteristics of a five link legged robot. Firstly, in order to streamline the complex overall motion model of the robot, the motion of the robot is decoupled into two parts: the body and the legs. Secondly, an MPC-LADRC (Model Predictive Control Linear Active Disturbance Rejection Control) integrated adaptive control method is proposed, which uses LADRC to correct the MPC optimization problem and improve the stability of the wheeled legged robot in complex terrain. The simulation comparison verification results show that compared with the Anti-interference controller based on LQR (linear quadratic regulator), the MPC-LADRC controller has better control accuracy, speed tracking response, and anti-interference ability.