Abstract: The paper presents a control algorithm for the vibration reduction system for robots transporting people up and down stairs. The sliding control algorithm with the sliding surface in the form of PID equations, combined with the PSO control algorithm, determines the parameters for the controller in the process of controlling the vibration reduction for the robot at the last step of the stairs. The crawler robot is equipped with an adaptive mechanism and a balancing mechanism to help reduce vibration. The vibration reduction system utilizes a linear actuator, and a multi-sensor system is established to determine the robot's position. Simulation results performed on MATLAB Simulink software show that the proposed solution is effective in vibration reduction control for crawler robots. The SMC-PID_PSO algorithm proves to be more effective than the SMC-PID controller developed through trial and error, as well as the previously used PI Fuzzy control method. Actual experimental results at a 35-degree slope indicate that the vibration reduction solution is highly effective. The mechanism's response closely follows the measured values from the sensor, and the system exhibits minimal delay. The phenomenon of tipping over does not occur; the robot lands gently, creating a sense of safety for the user.

Keywords: SMC-PID_PSO, Human transport robot, vibration reduction, adaptive control, stair-climbing robot, anti-tip stability, balance control

Pages: 467-476