Hopping Control of a Pneumatic Single-Legged Robot using Sliding Mode Control

Hong Hsu Liou, Ming Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The aim of this paper is to design and implement a single-legged vertical hopping robot with a pneumatic cylinder. The energy analysis is used to determine the hopping cycle and height for the vertical hopping robot. The mathematical model of the system is derived. Second order sliding mode control is used to design control laws to control the mass flow rate for the upper chamber and lower chamber of the cylinder. The numerical simulations are conducted. In experiments, proportional valves are used for control actuation. For feedback control, the strokes of the cylinder rod and the hopping height of the cylinder are measured by a potentiometer and a magnetic encoder, respectively. The control schemes are implemented on a digital signal processor. From simulation and experimental results, it is shown that the designed sliding mode controllers can achieve effective hopping control.

Original languageEnglish
Title of host publication2019 International Automatic Control Conference, CACS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728138466
DOIs
Publication statusPublished - 2019 Nov
Event2019 International Automatic Control Conference, CACS 2019 - Keelung, Taiwan
Duration: 2019 Nov 132019 Nov 16

Publication series

Name2019 International Automatic Control Conference, CACS 2019

Conference

Conference2019 International Automatic Control Conference, CACS 2019
CountryTaiwan
CityKeelung
Period19-11-1319-11-16

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Modelling and Simulation

Fingerprint Dive into the research topics of 'Hopping Control of a Pneumatic Single-Legged Robot using Sliding Mode Control'. Together they form a unique fingerprint.

  • Cite this

    Liou, H. H., & Ho, M. T. (2019). Hopping Control of a Pneumatic Single-Legged Robot using Sliding Mode Control. In 2019 International Automatic Control Conference, CACS 2019 [9024741] (2019 International Automatic Control Conference, CACS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS47674.2019.9024741