Self-Adaptive PID Control of Hydraulic Quadruped Robot

Kai Chang; Xiao Jian Han; Yong Yang

doi:10.4028/www.scientific.net/AMM.496-500.1407

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 496-500Self-Adaptive PID Control of Hydraulic Quadruped...

Self-Adaptive PID Control of Hydraulic Quadruped Robot

Abstract:

Servo hydraulic system is important one of driving patterns of quadruped robot. While servo hydraulic system has characteristics of parameters time-varying and strong nonlinearity, so traditional PID control pattern cannot meet all the control demands well. To solve these problems, a set of control hardware is designed for a quadruped robot and a new control algorithm which can adjust PID parameters in real-time condition based on fuzzy control theory is proposed. By deducing transfer function, establishing system model and using MATLAB simulation tools to simulate the two algorithms, we compared the two algorithms and the simulation result turns out that compared with traditional PID control algorithm, the fuzzy PID control algorithm has features such as low overshoot, high stability precision, strong robustness. At the same time, the result turns out that the fuzzy PID control algorithm is much fitter for the joint control of quadruped robot.

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Periodical:

Applied Mechanics and Materials (Volumes 496-500)

Pages:

1407-1412

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.496-500.1407

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Online since:

January 2014

Authors:

Kai Chang*, Xiao Jian Han, Yong Yang

Keywords:

Fuzzy PID, Nonlinear System, Quadruped Robot, Servo Hydraulic System

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* - Corresponding Author

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