H∞ controller of hydraulic actuators for burden legged robot joint

WANG Tianyu, YE Zhengmao, TONG Zhizhong, Zhang Hui

（School of Mechatronics Engineering , Harbin Institute of Technology, Harbin 150001, China）

Abstract: Aiming at the problem of dynamic frequency and phase tracking performance for the joints hydraulic actuators system for burden legged robot, the characteristics and H∞ control of the system was researched. The math mold of system was built. The extended H∞ mixed sensitivity control was presented to solve the singular H∞ control problem which caused by the integrator block of system math model.The appropriate weighting functions was selected and the extended H∞ controller was designed. The the system dynamic frequency and phase tracking performance were evaluated based on the Matlab/Simulink. The dynamic frequency and phase tracking performance of the H∞ controller was examined in the joints hydraulic actuators system for burden legged robot simulation system. The results indicate that the extended H∞ controller satisfies the robust performance and the dynamic frequency and phase tracking performance.

Key words: joints hydraulic actuators system; extended  H∞ control; mixed sensitivity control