Reference Model Following Sliding Mode Control for Hydraulic Mine Detection Hexapod Robot

摘要: The mine detection hexapod robot COMET-III is driven by hydraulic power. It necessary for walking to achieve a high trajectory tracking performance. But because of the strong nonlinear characteristic system, conventional classical control methods generate delay reference trajectory. sliding mode has robustness parameter change or disturbance, and model following follows dynamic characteristics plant as an ideal characteristics. Then, response system improved means feedback effect with disturbance observer in inner loop. So we design controller, which combines advantages these theory. In this paper, it shown that our method can improve performance through experiments simulations.