Smooth switching control of air–ground amphibious robot based on EZMP and integrator initial value
Year: 2025
Type: article
Abstract: 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.
Source: AIP Advances
DOI: 10.1063/5.0255359
Authors: Jie Duan, Heming Zhao, Chungui Zhou, Fei Xie, Zhiling Peng, Zhibo Pei, Kaijie Yue
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $1,350
OpenAlex ID: W4408125167