抄録
The mine detection hexapod robot COMET-III is driven by hydraulic power. Because of the strong nonlinear characteristic of the hydraulic system, conventional classic methods produce the delay to the trajectory. In the unknown environment of minefield, the robot leg must follow a trajectory correctly. The sliding mode control has strong robustness to parameter variation or disturbance, and the model following control make a real system follow the dynamic characteristics of a reference model. In this paper, we design a reference model following sliding mode controller, which combines the advantages of both control theory, and so improves control performance.
