Dynamics analysis and trajectory tracking control for a cockroach-like robot

The leg design of a cockroach robot ensure that they can generate movements used by the cockroach to walk and climb over a range of objects. However, in order to take advantage of these complex designs, we must first solve difficult problem in control. To the foot trajectory tracking control problem for cockroach robot, a new global non-singular adaptive fuzzy terminal sliding mode controller (NFTSM) has been proposed. A proper law is designed to adaptively adjust the switching gain of sliding mode control by fuzzy control. The controller can automatically track the maximum limit of model errors and disturbances, and has little chattering. Prediction estimation for model errors and disturbances of the proposed control system is not needed. Dimension of the fuzzy controller is reduced by simplifying the whole controller. Moreover, the system stability is proved by Lyapunov principle. and the simulation results show the validity of this method.