Research on the Hydraulic Actuator Control of the Quadruped Robot Based Dual-Loop

Abstract

This paper presents modeling and dual-loop control of a non-linear hydraulic actuator applied on the quadruped robot. The pure position control of the actuator is hard to achieve because it’s a three-order system. So we propose the dual-loop control method to decompose it. The controller structure of the system is composed of two loops namely outer position control loop and inner force control loop. Outer loop controller is used to calculate the optimum target force to reject the errors of the position control, while, the inner loop controller is used to keep the actual force close to this desired force.