Sliding Mode Repetitive Control Based on the Unknown Dynamics Estimator of a Two-Stage Supply Pressure Hydraulic Hexapod Robot
Hydraulic actuated legged robots display bright prospects and significant research value in areas such as unmanned area surveying, disaster rescue, military fields, and other scenarios owing to their excellent bionic characteristics, particularly their heavy payload capabilities and high power densi...
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| Format: | Article |
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MDPI AG
2025-07-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/10/7/472 |
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| author | Ziqi Liu Bo Jin Junkui Dong Qingyun Yao Yinglian Jin Tao Liu Binrui Wang |
| author_facet | Ziqi Liu Bo Jin Junkui Dong Qingyun Yao Yinglian Jin Tao Liu Binrui Wang |
| author_sort | Ziqi Liu |
| collection | DOAJ |
| description | Hydraulic actuated legged robots display bright prospects and significant research value in areas such as unmanned area surveying, disaster rescue, military fields, and other scenarios owing to their excellent bionic characteristics, particularly their heavy payload capabilities and high power density. To realize the all-terrain adaptation locomotion of the hydraulic hexapod robot (HHR) with a heavy payload, one alternative control framework is position–posture control based on joint position control. As the foundation for the steady locomotion of HHRs, it is imperative to realize high-precision joint position control to improve the robustness under external disturbances during the walking process and to complete the attitude control task. To address the above issues, this paper proposes a sliding mode repetitive control based on the unknown dynamics estimator (SMRC + UDE) for the knee and hip joints of the HHR with a two-stage supply pressure hydraulic system (TSS). The effectiveness of the SMRC + UDE method is verified using a simulation environment and the ZJUHEX01 prototype experimental platform, and it is compared with the results for PID and adaptive robust sliding mode control (ARSMC). The results show that SMRC + UDE may be more suitable for our HHR, considering both the control performance and efficiency factors. |
| format | Article |
| id | doaj-art-c9564229b21f4626a8abbd4c8f5b7d6b |
| institution | Kabale University |
| issn | 2313-7673 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-c9564229b21f4626a8abbd4c8f5b7d6b2025-08-20T03:58:26ZengMDPI AGBiomimetics2313-76732025-07-0110747210.3390/biomimetics10070472Sliding Mode Repetitive Control Based on the Unknown Dynamics Estimator of a Two-Stage Supply Pressure Hydraulic Hexapod RobotZiqi Liu0Bo Jin1Junkui Dong2Qingyun Yao3Yinglian Jin4Tao Liu5Binrui Wang6College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, ChinaState Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaSchool of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, ChinaLiangxin College, China Jiliang University, Hangzhou 310018, ChinaCollege of Modern Science and Technology, China Jiliang University, Hangzhou 310018, ChinaState Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaCollege of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, ChinaHydraulic actuated legged robots display bright prospects and significant research value in areas such as unmanned area surveying, disaster rescue, military fields, and other scenarios owing to their excellent bionic characteristics, particularly their heavy payload capabilities and high power density. To realize the all-terrain adaptation locomotion of the hydraulic hexapod robot (HHR) with a heavy payload, one alternative control framework is position–posture control based on joint position control. As the foundation for the steady locomotion of HHRs, it is imperative to realize high-precision joint position control to improve the robustness under external disturbances during the walking process and to complete the attitude control task. To address the above issues, this paper proposes a sliding mode repetitive control based on the unknown dynamics estimator (SMRC + UDE) for the knee and hip joints of the HHR with a two-stage supply pressure hydraulic system (TSS). The effectiveness of the SMRC + UDE method is verified using a simulation environment and the ZJUHEX01 prototype experimental platform, and it is compared with the results for PID and adaptive robust sliding mode control (ARSMC). The results show that SMRC + UDE may be more suitable for our HHR, considering both the control performance and efficiency factors.https://www.mdpi.com/2313-7673/10/7/472hydraulic hexapod robotsliding mode repetitive controlunknown dynamics estimatoradaptive robust sliding mode control |
| spellingShingle | Ziqi Liu Bo Jin Junkui Dong Qingyun Yao Yinglian Jin Tao Liu Binrui Wang Sliding Mode Repetitive Control Based on the Unknown Dynamics Estimator of a Two-Stage Supply Pressure Hydraulic Hexapod Robot Biomimetics hydraulic hexapod robot sliding mode repetitive control unknown dynamics estimator adaptive robust sliding mode control |
| title | Sliding Mode Repetitive Control Based on the Unknown Dynamics Estimator of a Two-Stage Supply Pressure Hydraulic Hexapod Robot |
| title_full | Sliding Mode Repetitive Control Based on the Unknown Dynamics Estimator of a Two-Stage Supply Pressure Hydraulic Hexapod Robot |
| title_fullStr | Sliding Mode Repetitive Control Based on the Unknown Dynamics Estimator of a Two-Stage Supply Pressure Hydraulic Hexapod Robot |
| title_full_unstemmed | Sliding Mode Repetitive Control Based on the Unknown Dynamics Estimator of a Two-Stage Supply Pressure Hydraulic Hexapod Robot |
| title_short | Sliding Mode Repetitive Control Based on the Unknown Dynamics Estimator of a Two-Stage Supply Pressure Hydraulic Hexapod Robot |
| title_sort | sliding mode repetitive control based on the unknown dynamics estimator of a two stage supply pressure hydraulic hexapod robot |
| topic | hydraulic hexapod robot sliding mode repetitive control unknown dynamics estimator adaptive robust sliding mode control |
| url | https://www.mdpi.com/2313-7673/10/7/472 |
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