Event-based control for pneumatic single-legged hopping robot

In this paper, we apply event-based control algorithm to the height control of single-legged hopping robot, propose a new algorithm based on time event to eliminate the dependence on state sensor in previous control algorithm based on state event. Further, we combine time event with state event to form control algorithm based on integrated event. We use simulations and Poincare Map method to analyze the characteristics of proposed method, experiments on real robot validate the effectiveness of the algorithm. The results of simulation and experiment show algorithm based on time-event has a wide range of convergence and fast convergence ability. Related simulations illustrate algorithm based on integrated event can enhance reliability of the system and ensure stability at the same time.