Sliding mode control for a pneumatic robot leg

Abstract

The aim of this paper is to ensure the stability of a pneumatic legged robot with robustness, versus perturbation, and uncertanties. To verify these three properties, we develop an appropriate sliding mode control based on general form of sliding manifold. This control is then compared with state feedback control implemented on the robot. The stability analysis proved by use of the Lyapunov theory an simulations shows that the proposed control algorithm can achieve satisfactory tracking performance.