Improved active disturbance rejection control with the optimization algorithm for the leg joint control of a hydraulic quadruped robot
To enhance the joint control performance in hydraulic quadruped robots, active disturbance rejection control was used in the leg joint controller design of a hydraulic quadruped robot in combination with the self-growing lévy-flight salp swarm algorithm in this paper. First, the robot-leg structure...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2023-09-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940221100298 |