COM Adjustment Mechanism Control for Multi-Configuration Motion Stability of Unmanned Deformable Vehicle

An unmanned deformable vehicle is a wheel -legged robot that can transform between two configurations: a vehicular state and a humanoid state, which have different motion modes and stability characteristics. Aiming at the motion stability of an unmanned deformable vehicle in multiple configurations, a center -of -mass adjustment mechanism was designed in this study. Further, a motion stability hierarchical control algorithm was proposed based on this mechanism, and an electromechanical model based on a two -degree-of -freedom center -of -mass adjustment mechanism was established. An unmanned -deformable-vehicle vehicular-state steady -state steering dynamics model and a gait planning kinematic model of humanoid state walking were established. A stability hierarchical control strategy was designed b ased on the hybrid automata model, Fuzzy -PID control, K -means clustering algorithm, and variable universe fuzzy control - active disturbance rejection control (VUFC -ADRC) to realize the stability control of the unmanned deformable vehicle in multi -configuration motion. The simulation and test results showed that the steady-state steering stabi lity in the vehicular state and the walking stability in the humanoid state could be significantly improved by controlling the slider motion in the center-of -mass adjustment mechanism.