High-performance foot trajectory tracking control of hydraulic legged robots based on fixed-time disturbance observers
Shanshuai Niu,
Junzheng Wang,
Jiangbo Zhao
Abstract:Purpose
There are various uncertain and nonlinear problems in hydraulic legged robot systems, including parameter uncertainty, unmodeled dynamics and external disturbances. This study aims to eliminate uncertainties and improve the foot trajectory tracking control performance of hydraulic legged robots, a high-performance foot trajectory tracking control method based on fixed-time disturbance observers for hydraulic legged robots is proposed.
Design/methodology/approach
First, the robot leg mechanical system … Show more
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