Double hyperbolic sliding mode control of a three‐legged robot with actuator constraints

This paper proposes an anti-wind up double hyperbolic sliding mode controller (AWDH-SMC) in the presence of torque constraints for a three-legged robot. The legged robot's dynamics are nonlinear, hybrid and complex. Based on challenges mentioned, this study focuses designing (SMC) fully actuated robot to achieve fast tracking convergence. On other hand, torques generated by actuators limited. As result, not only must be so that balance is disturbed, but it also withstand applied constraints. Therefore, designed at first Next, compensator used apply Finally, using theory multiple Lyapunov functions, stability closed-loop control system model legged-robot analyzed. Simulation results validate effectiveness proposed scheme.