Prescribed performance control of quadruped robot

摘要

Due to the complex and high nonlinear structure of the quadruped robots, the dynamic control of quadruped robots has long been a big challenge for the researchers. In this paper, a guaranteed performance adaptive control algorithm is proposed for tracking control of a quadruped robot with parameter uncertainties. The controller is designed based on the sliding mode theory, and incorporates a transformed error, which includes the performance indices. Parameter uncertainties are estimated by a linear network. By choosing a proper Lyapunov function, the prescribed performance with the proposed controller is proven in the scenes of the parameter uncertainties and the environment constraint. Numerical simulations demonstrate the effectiveness and superiority of the proposed controller.