The second order sliding mode control for a bipedal walking robot

摘要

The design of a control algorithm that stirs a nonlinear system to a given manifold and keeps this contraint is considered. The sliding mode approach is characterized, in practice, by a high-frequency switching of the control. It turns out that the deviation of the system from its prescribed constraints is proportional to the switching time delay. The concept of sliding mode order is introduced nad the second order sliding modes is considered to flllow the gait of a planar, five-link biped robot. Convergence conditions and simulatiosn results for the measured state vector are presented.