Performance analysis of a control system for a four-wheeled mobile robot model with a suspension chassis

V. N. Meshcheryakov, S. E. Kondratev

Lipetsk State Technical University, Lipetsk, Russian Federation

Abstract: We analyzed the dynamics of a four-wheeled mobile robot with a suspension chassis designed to negotiate challenging terrains, inclined and uneven surfaces. We developed a nonlinear mathematical model of the system using second-order Lagrangian mechanics, accounting for the kinetic and potential energy of the robot's body and suspension elements, damping forces, wheel-ground interactions, and nonlinear geometric relationships within the suspension. The model considers nonlinear dynamic effects during movement on slopes and negotiating obstacles. We optimized the suspension parameters and control system using advanced optimization methods to minimize body vibrations, ensure stable motion, and enhance energy efficiency. Unlike previous studies, our approach comprehensively optimizes system parameters while meeting strength constraints of the suspension components and dynamic performance requirements. The results provide a detailed analysis of system dynamics and enable the optimization of design and control parameters, improving the robot's efficiency and reliability on complex, unstructured surfaces. The developed model supports simulation, prototype development, and the creation of robotic systems with enhanced characteristics, opening new opportunities in mobile robotics and control systems.

Keywords: robotics, control, dynamics, modeling, validation.

DOI: 10.51790/2712-9942-2024-5-4-08