Table of Contents Author Guidelines Submit a Manuscript
Journal of Control Science and Engineering
Volume 2016, Article ID 8760215, 18 pages
Research Article

Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity Robust Control

Mechatronics, Asian Institute of Technology, P.O. Box 4, Klong Luang, Pathumthani 12120, Thailand

Received 1 March 2016; Revised 14 July 2016; Accepted 17 July 2016

Academic Editor: Carlos-Andrés Garcia

Copyright © 2016 Petrus Sutyasadi and Manukid Parnichkun. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposed a control algorithm that guarantees gait tracking performance for quadruped robots. During dynamic gait motion, such as trotting, the quadruped robot is unstable. In addition to uncertainties of parameters and unmodeled dynamics, the quadruped robot always faces some disturbances. The uncertainties and disturbances contribute significant perturbation to the dynamic gait motion control of the quadruped robot. Failing to track the gait pattern properly propagates instability to the whole system and can cause the robot to fall. To overcome the uncertainties and disturbances, structured specified mixed sensitivity robust controller was proposed to control the quadruped robot legs’ joint angle positions. Before application to the real hardware, the proposed controller was tested on the quadruped robot’s leg planar dynamic model using MATLAB. The proposed controller can control the robot’s legs efficiently even under uncertainties from a set of model parameter variations. The robot was also able to maintain its stability even when it was tested under several terrain disturbances.