Robust control of an hexapod robot in lifting mode

摘要

The present work aims at elaborating an efficient robust control approach of a hexapod robot in the lifting phase movement. A dynamic model is derived using the Newton-Euler formalism. An identification method is used to determine the system behavior by considering low and high velocities of the joint variables. The variations between the models are considered as nonlinearities and dynamic uncertainties, and they are represented by the multiplicative uncertainty configuration. The H∞ mixed-sensitivity method is applied in order to achieve a good performance and robust stability against the external disturbances and the internal uncertainties represented by unmodeled dynamics, sensors noise and restrictions on the actuators control weight.