Robust attitude stabilisation reactive control of a quadruped robot under load disturbance Online publication date: Tue, 11-Oct-2022
by Xiaolu Zhu; Jinxiao Wan; Wei Xu; Chuan Zhou
International Journal of Automation and Control (IJAAC), Vol. 16, No. 6, 2022
Abstract: In order to solve the walking stability problem of a quadruped robot under load disturbance, a robust attitude stabilisation reactive control strategy based on zero-moment point (ZMP) stability criterion is proposed. This control strategy is composed of two layers, including an adaptive gait planner at the upper layer and a robust joint angle tracking controller at the bottom layer. The adaptive gait planner calculates the desired ZMP position in real-time by the robot body dynamics, which can adaptively plan the foot-end trajectory of the quadruped robot to ensure the attitude stability of the robot under load disturbance. The robust joint angle tracking controller is a sliding-mode tracking controller with disturbance observer, which calculates the disturbance and compensates for it through the complete dynamics of the quadruped robot with disturbance term. Finally, the effectiveness of the proposed reactive control strategy is verified by co-simulation of ADAMS and MATLAB.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Automation and Control (IJAAC):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook