Research on composite anti-disturbance adaptive constraint control strategy for quadruped robot

Abstract

To achieve the stable walking of a quadruped robot, a composite anti-disturbance adaptive constraint control strategy is proposed based on the analysis of the dynamic model. First, the leg control adopts a trajectory tracking constraint control algorithm based on a time-varying tangent-type barrier Lyapunov function, which ensures high-precision control with joint trajectory tracking errors consistently constrained within a time-varying boundary. To further enhance the robustness of the system, an adaptive algorithm is used to compensate for external disturbances and system uncertainties. Second, the body posture control of the quadruped robot adopts the Virtual Model Control algorithm, which achieves stable adjustments of the body posture and soft contact between the foot end and the ground. This further improves its disturbance rejection capability. Finally, a comparative study of control algorithms is being conducted using MATLAB/Simulink. The results show that under this control strategy, the quadruped robot’s motion exhibits good robustness and flexibility.