Robust adaptive dynamic surface control for hydraulic quadruped robot hip joint

Hydraulic quadruped robot hip joint is an important part of the mechanical leg which is constituted of servo valve controlled cylinder system. Its control performance affects the robot motion precision directly. Because the environment which the cylinders work in is complicated and the system is non-linear, the traditional linear control algorithm can't meet the requirement of robot. So some researches were done on the control method of hydraulic quadruped robot hip joint servo valve controlled cylinder system. The mathematical model was created and robust adaptive dynamic surface control anthology was adoped to design the controller, then the system was proved to be stable with the Lyapunov stability criterion. Finally, the robust adaptive dynamic surface was compared with traditional PID and surface control through simulating the whole system with Matlab and AMESim in diffrent conditions, and the results prove that the method is effective. © 2016, Editorial Department of Transaction of Beijing Institute of Technology. All right reserved.