Aiming at the control problems for load variations of the load-carrying quadruped walking vehicle, the method combining centroidal dynamics and adaptive sliding mode control is proposed to ensure the weight adaptation and improve the tracking accuracy of forward speed and lateral speed. The motion control of the walking vehicle is divided into two parts: torso motion control and swinging legs motion control. The control methods of centroidal dynamics and task space PD are applied to the motion control of the torso, and the virtual model control method is applied to the motion control of swinging legs. Then, the adaptive sliding mode control algorithm is applied in the height direction of the vehicle to realize the adaptation to weight change and the weight identification, and the tracking accuracy of forward speed and lateral speed is improved by combining the centroidal dynamics. Adams and Simulink are used to simulate the trotting gait on the flat ground and slope when the weight of walking vehicle changes, and comparisons are made with the virtual model control method. The results show that the method combining centroidal dynamics and adaptive sliding mode control can realize the adaptability to load variations and reduce the forward speed and lateral speed tracking error, which proves the effectiveness of the proposed control method.

中文翻译：

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基于质心动力学和自适应滑模控制的变负荷载重四足步行车小跑控制

针对载重四足步行车负载变化的控制问题，提出了一种将质心动力学与自适应滑模控制相结合的方法，以保证重量的自适应，提高前进速度和横向速度的跟踪精度。步行车辆的运动控制分为两部分：躯干运动控制和摆腿运动控制。质心动力学和任务空间PD的控制方法应用于躯干的运动控制，而虚拟模型控制方法则用于摆动腿的运动控制。然后，将自适应滑模控制算法应用于车辆的高度方向，以实现对体重变化和体重识别的适应，结合质心动力学，提高了前进速度和横向速度的跟踪精度。当步行车辆的重量发生变化时，使用Adams和Simulink模拟平坦地面和斜坡上的小跑步态，并使用虚拟模型控制方法进行比较。结果表明，将质心动力学与自适应滑模控制相结合的方法可以实现对负荷变化的适应性，减小前进速度和横向速度跟踪误差，证明了该控制方法的有效性。