Reference Model Following Sliding Mode Control for Hydraulic Mine Detection Hexapod Robot

摘要

The mine detection hexapod robot COMET-III is driven by hydraulic power. It is necessary for walking robot to achieve a high trajectory tracking performance. But because of the strong nonlinear characteristic of the hydraulic system, conventional classical control methods generate the delay to the reference trajectory. The sliding mode control has strong robustness to parameter change or disturbance, and the model following control follows the dynamic characteristics of plant to a reference model as an ideal characteristics. Then, the response of the system is improved by means of a feedback effect with disturbance observer in the inner loop. So we design a reference model following sliding mode controller, which combines the advantages of these control theory. In this paper, it is shown that our control method can improve the trajectory tracking performance and robustness of the system through experiments and simulations.