Title :
Advanced intelligent walking robot control through sliding motion control and bond graphs methods
Author :
Ionel-Alexandru Gal;Luige Vladareanu;Hongnian Yu;Hongbo Wang;Mingcong Deng
Author_Institution :
Romanian Academy, Institute of Solid Mechanics of Romanian Academy IMSAR, Dept. Robotics and Mechatronics, Bucharest, Romania
Abstract :
In this paper, we tested a dynamic control law on a 2DOF robot walking leg. To achieve this, we modeled the system using bond graphs, and the Sliding Control Method for real time control. To increase performance of the robot trajectory tracking control a fuzzy gain adjustment inside the dynamic control method have been used and the new results include the systems´ influence on the sliding parameter. The research results lead to improve of the walking robot movement control on unstructured and bumped surfaces.
Keywords :
"Decision support systems","Legged locomotion","Mathematical model","Joints","Mechatronics","Motion control"
Conference_Titel :
Advanced Mechatronic Systems (ICAMechS), 2015 International Conference on
Electronic_ISBN :
2325-0690
DOI :
10.1109/ICAMechS.2015.7287125