Trajectory Tracking of 3-link Biped Leg Robot using PD Controller and Robust Variable Structure Controller

Abstract

This paper presents the mathematical modeling of a 3-link biped leg robot using Euler-Lagrange formulation and application of PD controller and robust variable structure controller (RVSC). The trajectory tracking of 3-link biped leg robot using PD controller and robust variable structure controller have been explored. The simulations for trajectory tracking have been shown in the paper to support the proposed controller designs.