Smooth switching control of air–ground amphibious robot based on EZMP and integrator initial value
In this paper, a novel controller smooth switching strategy is proposed to address the stability problem of the low-cost air–ground amphibious robot under interference, taking into account both the processor’s performance and the flight control algorithm’s design difficulties. First, the control alg...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
AIP Publishing LLC
2025-03-01
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| Series: | AIP Advances |
| Online Access: | http://dx.doi.org/10.1063/5.0255359 |
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| _version_ | 1850259660454494208 |
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| author | Jie Duan Heming Zhao Chungui Zhou Fei Xie Zhiling Peng Zhibo Pei Kaijie Yue |
| author_facet | Jie Duan Heming Zhao Chungui Zhou Fei Xie Zhiling Peng Zhibo Pei Kaijie Yue |
| author_sort | Jie Duan |
| collection | DOAJ |
| description | In this paper, a novel controller smooth switching strategy is proposed to address the stability problem of the low-cost air–ground amphibious robot under interference, taking into account both the processor’s performance and the flight control algorithm’s design difficulties. First, the control algorithm is split into a basic structure consisting of proportional and integral, and then, a smooth switching strategy with the initial value assigned to the integrator is designed to suppress the output transient during switching. Second, the extend zero-moment point theory, which integrates the variables of the robot pitch angle and the roll angle, is implemented into the control strategy’s switching logic to reduce frequent switching at the threshold. Finally, the efficiency of the proposed control method is verified by comparing it with other control strategies through simulation experiments. |
| format | Article |
| id | doaj-art-0688b5593b2c477c8f37a3fba9ecd17e |
| institution | OA Journals |
| issn | 2158-3226 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | AIP Publishing LLC |
| record_format | Article |
| series | AIP Advances |
| spelling | doaj-art-0688b5593b2c477c8f37a3fba9ecd17e2025-08-20T01:55:49ZengAIP Publishing LLCAIP Advances2158-32262025-03-01153035101035101-910.1063/5.0255359Smooth switching control of air–ground amphibious robot based on EZMP and integrator initial valueJie Duan0Heming Zhao1Chungui Zhou2Fei Xie3Zhiling Peng4Zhibo Pei5Kaijie Yue6College of Mechatronic Engineering, North University of China, Taiyuan 030051, ChinaCollege of Mechatronic Engineering, North University of China, Taiyuan 030051, ChinaCollege of Mechatronic Engineering, North University of China, Taiyuan 030051, ChinaCollege of Mechatronic Engineering, North University of China, Taiyuan 030051, ChinaCollege of Mechatronic Engineering, North University of China, Taiyuan 030051, ChinaHuaihai Industry Group Co., Ltd., Changzhi 046012, ChinaXi’an Mechanical and Electric Institute, Xi’an 710000, ChinaIn this paper, a novel controller smooth switching strategy is proposed to address the stability problem of the low-cost air–ground amphibious robot under interference, taking into account both the processor’s performance and the flight control algorithm’s design difficulties. First, the control algorithm is split into a basic structure consisting of proportional and integral, and then, a smooth switching strategy with the initial value assigned to the integrator is designed to suppress the output transient during switching. Second, the extend zero-moment point theory, which integrates the variables of the robot pitch angle and the roll angle, is implemented into the control strategy’s switching logic to reduce frequent switching at the threshold. Finally, the efficiency of the proposed control method is verified by comparing it with other control strategies through simulation experiments.http://dx.doi.org/10.1063/5.0255359 |
| spellingShingle | Jie Duan Heming Zhao Chungui Zhou Fei Xie Zhiling Peng Zhibo Pei Kaijie Yue Smooth switching control of air–ground amphibious robot based on EZMP and integrator initial value AIP Advances |
| title | Smooth switching control of air–ground amphibious robot based on EZMP and integrator initial value |
| title_full | Smooth switching control of air–ground amphibious robot based on EZMP and integrator initial value |
| title_fullStr | Smooth switching control of air–ground amphibious robot based on EZMP and integrator initial value |
| title_full_unstemmed | Smooth switching control of air–ground amphibious robot based on EZMP and integrator initial value |
| title_short | Smooth switching control of air–ground amphibious robot based on EZMP and integrator initial value |
| title_sort | smooth switching control of air ground amphibious robot based on ezmp and integrator initial value |
| url | http://dx.doi.org/10.1063/5.0255359 |
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