Abstract
The problem of gait planning for the quadruped search robot is described as an uncertainty discrete system. According to the basic gait elements of the quadruped search robot, the periodic gait of the robot is analyzed on the basis of gait timing diagram. The non-fragile control theory is proposed for gait planning control of quadruped search robot. A non-fragile reliable adaptive controller is designed for adaptive gait transition with the D-stability, which makes the gait planning to be regular, causal and D-stable. The condition of controller is given based on robust control theory, which include theorem 1 and theorem 2. And the approaches of designing the controller are given in terms of linear matrix inequalities. The results given by linear matrix inequalities indicate that the proposed non-fragile reliable robust controller is correct and effective.
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