Robust force tracking control via backstepping sliding mode control and virtual damping control for hydraulic quadruped
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Robust force tracking control via backstepping sliding mode control and virtual damping control for hydraulic quadruped robots SHEN Wei(沈伟)1, 2, LÜ Xiao-bin(吕晓斌)1, MA Chen-jun(马琛俊)3 1. Department of Mechatronics Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China; 2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310000, China; 3. Libin Technology R&D Center, Shanghai Electric Hydraulic & Pneumatics Co., Ltd., Shanghai 200237, China © Central South University Press and Springer-Verlag GmbH Germany, part of Springer Nature 2020 Abstract: In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments, an impedance-based adaptive reference trajectory generation scheme is used. Secondly, in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors, the backstepping sliding mode controller is combined with the adaptive reference trajectory generator. Finally, a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change. The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged; the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed; when the environment suddenly changes, the drive unit can move slowly until the robot re-contacts the environment. Key words: hydraulic quadruped robot; impedance control; backstepping sliding mode control; virtual damping control Cite this article as: SHEN Wei, LÜ Xiao-bin, MA Chen-jun. Robust force tracking control via backstepping sliding mode control and virtual damping control for hydraulic quadruped robots [J]. Journal of Central South University, 2020, 27(9): 2673−2686. DOI: https://doi.org/10.1007/s11771-020-4490-z.
1 Introduction Compared with traditional wheeled robots, quadruped robots have excellent athletic abilities in unknown and unstructured environments, which makes it have broad application prospect in military and civilian fields [1]. Among the common driving methods, hydraulic drive is more suitable for the high-performance requirements of quadruped robot due to its high precision, fast response speed, small size and other advantages [2, 3]. Therefore, the
research of hydraulic quadruped robot has attracted extensive attention. The hydraulic quadruped robot realizes various movements by frequently interacting with the environment surface. Therefore, whether the interaction can be accurately controlled will directly determine the performance of the hydraulic quadruped robot [4]. In this case, it is unreasonable to control the contact force only by using motion control strategy. Because in the process of the interaction between the robot and the external environment, the actual contact force should track
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