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Active Pitch Stabilization of Tracked Platforms Using a Nonlinear Dynamic Model for Coordinated Inertial Actuation
Alina Fazylova1,2, Kuanysh Alipbayev2, Makpal Nogaibayeva2
1Department of Smart Technologies in Engineering, International Engineering and Technological University, Almaty 050060, Kazakhstan.
Sensors (Basel, Switzerland)
|March 14, 2026
Summary
This study introduces a new drive system for tracked mobile platforms to actively stabilize body inclination over uneven terrain. The novel system significantly reduces pitch-angle deviations, enhancing stability for robotic applications.
Area of Science:
- Robotics
- Control Systems Engineering
- Mechanical Engineering
Background:
- Tracked mobile platforms face challenges maintaining stability on uneven terrain.
- Longitudinal body inclination can impede performance and operational effectiveness.
Purpose of the Study:
- To propose and evaluate a novel drive system architecture for actively stabilizing the longitudinal body inclination of tracked mobile platforms.
- To develop a coordinated control strategy for enhancing platform stability.
Main Methods:
- A new drive system combining conventional track drives with an inertial stabilization drive (flywheel on pitch axis).
- Development of a unified dynamic model for coordinated control.
- Synthesis of a coordinated optimal control law based on a quadratic performance criterion.
Main Results:
- Significant reduction in peak and root-mean-square pitch-angle deviations demonstrated through simulations.
- Effectiveness validated over step-like, random terrain, and under external moment disturbances.
- Comparison showed superior performance against platforms without inertial actuators or with local stabilization.
Conclusions:
- The proposed inertial stabilization drive, integrated with coordinated control, is effective for stabilizing tracked mobile platforms.
- This approach shows promise for special-purpose applications, advanced terrestrial robotics, and space exploration systems.
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