Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity H∞ Robust Control
This paper proposed a control algorithm that guarantees gait tracking performance for quadruped robots. During dynamic gait motion, such as trotting, the quadruped robot is unstable. In addition to uncertainties of parameters and unmodeled dynamics, the quadruped robot always faces some disturbances...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/8760215 |
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| _version_ | 1849404126467719168 |
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| author | Petrus Sutyasadi Manukid Parnichkun |
| author_facet | Petrus Sutyasadi Manukid Parnichkun |
| author_sort | Petrus Sutyasadi |
| collection | DOAJ |
| description | This paper proposed a control algorithm that guarantees gait tracking performance for quadruped robots. During dynamic gait motion, such as trotting, the quadruped robot is unstable. In addition to uncertainties of parameters and unmodeled dynamics, the quadruped robot always faces some disturbances. The uncertainties and disturbances contribute significant perturbation to the dynamic gait motion control of the quadruped robot. Failing to track the gait pattern properly propagates instability to the whole system and can cause the robot to fall. To overcome the uncertainties and disturbances, structured specified mixed sensitivity H∞ robust controller was proposed to control the quadruped robot legs’ joint angle positions. Before application to the real hardware, the proposed controller was tested on the quadruped robot’s leg planar dynamic model using MATLAB. The proposed controller can control the robot’s legs efficiently even under uncertainties from a set of model parameter variations. The robot was also able to maintain its stability even when it was tested under several terrain disturbances. |
| format | Article |
| id | doaj-art-98fdd697f8a44daea96850fbf75f8352 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-98fdd697f8a44daea96850fbf75f83522025-08-20T03:37:05ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/87602158760215Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity H∞ Robust ControlPetrus Sutyasadi0Manukid Parnichkun1Mechatronics, Asian Institute of Technology, P.O. Box 4, Klong Luang, Pathumthani 12120, ThailandMechatronics, Asian Institute of Technology, P.O. Box 4, Klong Luang, Pathumthani 12120, ThailandThis paper proposed a control algorithm that guarantees gait tracking performance for quadruped robots. During dynamic gait motion, such as trotting, the quadruped robot is unstable. In addition to uncertainties of parameters and unmodeled dynamics, the quadruped robot always faces some disturbances. The uncertainties and disturbances contribute significant perturbation to the dynamic gait motion control of the quadruped robot. Failing to track the gait pattern properly propagates instability to the whole system and can cause the robot to fall. To overcome the uncertainties and disturbances, structured specified mixed sensitivity H∞ robust controller was proposed to control the quadruped robot legs’ joint angle positions. Before application to the real hardware, the proposed controller was tested on the quadruped robot’s leg planar dynamic model using MATLAB. The proposed controller can control the robot’s legs efficiently even under uncertainties from a set of model parameter variations. The robot was also able to maintain its stability even when it was tested under several terrain disturbances.http://dx.doi.org/10.1155/2016/8760215 |
| spellingShingle | Petrus Sutyasadi Manukid Parnichkun Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity H∞ Robust Control Journal of Control Science and Engineering |
| title | Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity H∞ Robust Control |
| title_full | Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity H∞ Robust Control |
| title_fullStr | Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity H∞ Robust Control |
| title_full_unstemmed | Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity H∞ Robust Control |
| title_short | Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity H∞ Robust Control |
| title_sort | gait tracking control of quadruped robot using differential evolution based structure specified mixed sensitivity h∞ robust control |
| url | http://dx.doi.org/10.1155/2016/8760215 |
| work_keys_str_mv | AT petrussutyasadi gaittrackingcontrolofquadrupedrobotusingdifferentialevolutionbasedstructurespecifiedmixedsensitivityhrobustcontrol AT manukidparnichkun gaittrackingcontrolofquadrupedrobotusingdifferentialevolutionbasedstructurespecifiedmixedsensitivityhrobustcontrol |