TY - GEN
T1 - Hopping Control of a Pneumatic Single-Legged Robot using Sliding Mode Control
AU - Liou, Hong Hsu
AU - Ho, Ming Tzu
PY - 2019/11
Y1 - 2019/11
N2 - 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.
AB - 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.
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U2 - 10.1109/CACS47674.2019.9024741
DO - 10.1109/CACS47674.2019.9024741
M3 - Conference contribution
T3 - 2019 International Automatic Control Conference, CACS 2019
BT - 2019 International Automatic Control Conference, CACS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Automatic Control Conference, CACS 2019
Y2 - 13 November 2019 through 16 November 2019
ER -