Active Pitch Stabilization of Tracked Platforms Using a Nonlinear Dynamic Model for Coordinated Inertial Actuation
Fazylova A. Alipbayev K. Nogaibayeva M. Iliev T. Stoyanov I.
March 2026Multidisciplinary Digital Publishing Institute (MDPI)
Sensors
2026#26Issue 5
This study addresses the problem of actively stabilizing the longitudinal body inclination of a tracked mobile platform operating over uneven terrain. A novel drive system architecture is proposed that combines conventional track traction electric drives with an inertial body-stabilization drive based on a flywheel mounted on the pitch axis between the chassis and the body module. The main contribution of the proposed approach is the coordinated control of the traction drives and the inertial actuator based on a unified dynamic model of the platform. A quadratic performance criterion is formulated, and a coordinated optimal control law is synthesized to limit body angular oscillations while accounting for actuator energy consumption. Simulation results for motion over step-like and random terrain irregularities, as well as under external moment disturbances, demonstrate a significant reduction in both peak and root-mean-square pitch-angle deviations relative to configurations without an inertial actuator and with local body stabilization. The results obtained confirm the potential and effectiveness of inertial stabilization drives as part of coordinated drive control systems for tracked mobile platforms intended for special-purpose applications, and indicate prospects for their use in advanced terrestrial robotic platforms and future space robotic systems operating in challenging environments.
body stabilization , coordinated control , drive system , flywheel , inertial actuator , mathematical modeling , nonlinear dynamics , optimal control , tracked mobile platform
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Department of Smart Technologies in Engineering, International Engineering and Technological University, Almaty, 050060, Kazakhstan
Department of Aerospace and Electronic Engineering, Almaty University of Power Engineering and Telecommunications Named after Gumarbek Daukeyev, Almaty, 050013, Kazakhstan
Department of Telecommunications, University of Ruse, 8 Studentska Str., Ruse, 7004, Bulgaria
Department of Electric Power Engineering, University of Ruse, 8 Studentska Str., Ruse, 7004, Bulgaria
Department of Smart Technologies in Engineering
Department of Aerospace and Electronic Engineering
Department of Telecommunications
Department of Electric Power Engineering
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Книга Публикация научной статьи Волощук 2026 Book Publication of a scientific article 2026