PD regulated sliding mode control of a quadruped robot

Model-based Control of a quadruped robot based on designed stable gaits is the focus of this paper. To this end, first explicit dynamics equations are obtained. Next, stable gait planning of the robot is investigated such that the robot can walk with a given speed over the terrain. Finally, the Sliding Mode Control (SMC) approach is applied, and a new chattering elimination method is proposed by adding a PD term to the control input. Obtained simulation results show that the performance of the SMC in terms of the tracking errors will be improved even in the presence of significant disturbances. Therefore, using the proposed approach compared to the conventional SMC will be more practically reliable.