FUZZY HIERARCHICAL SLIDING CONTROLLER FOR QUADRUPED ROBOT WITH FAULT

Abstract

The paper presents the research on concentrating stability for Spotdog robot
as a difficult and complex problem due to the nonlinear of the system, requiring
research to understand and propose effective control solutions. In this paper, a
fuzzy hierarchical sliding controll is developed for Spotdog robot under the
influence of fault, in which the hierarchical sliding controller's parameter set is
adapted based on the fuzzy controller. Simulation results show that the
proposed controller gives better results than the sliding mode controller,
overcoming the chattering and stabilizing the system when disturbed.