Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.3443pt" id="M1" height="15.7437pt" version="1.1" viewBox="-0.0657574 -11.3994 26.9666 15.7437" width="26.9666pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-73" d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z"/></g><g transform="matrix(.012,0,0,-0.012,13.299,4.134)"><path id="g14-30" d="M1034 231C1034 352 945 457 803 457C686 457 615 395 553 303C486 406 399 457 271 457C159 457 30 375 30 212C30 102 108 -12 267 -12C382 -12 450 51 509 142C577 37 668 -12 799 -12C917 -12 1034 68 1034 231ZM483 186C432 104 369 32 277 32C215 32 175 127 175 249C175 362 216 414 257 414C348 414 423 291 483 186ZM887 200C887 56 847 32 809 32C715 32 640 154 579 260C631 342 696 414 789 414C852 414 887 338 887 200Z"/></g></svg> Robust Control

<div>Complementary sensitivity weight <svg height="12.5794pt" id="M122" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 28.5077 12.5794" width="28.5077pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M962 650H739L732 622L760 619C812 613 819 604 798 552C760 457 671 267 606 131H604L511 638H480L237 131H233L183 554C177 607 183 614 226 619L248 622L257 650H24L17 622C88 615 92 611 103 524L173 -11H203L450 491H453L543 -11H575L839 529C882 609 886 613 953 622L962 650Z" id="g113-88"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="974" vert-adv-y="974"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,10.777,3.132)"><path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z" id="g50-117"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,14.445,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z" id="g113-41"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="346" vert-adv-y="346"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,18.943,0)"><path d="M352 391C352 416 319 448 267 448C236 448 173 423 147 400C107 364 96 332 96 304C96 248 143 210 193 181C241 153 258 124 258 100C258 72 232 38 184 38C151 38 107 66 81 108C77 114 64 116 55 111C34 99 23 84 23 65C23 29 81 -12 134 -12C220 -12 325 61 325 141C325 184 297 215 234 256C194 282 161 309 161 346C161 380 188 401 217 401C255 401 279 380 301 353C308 344 313 341 325 347C341 355 352 371 352 391Z" id="g113-116"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="375" vert-adv-y="375"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,23.818,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z" id="g113-42"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="346" vert-adv-y="346"></glyph.data></g></svg> and the system uncertainty of the knee joint control.</div>

Journal of Control Science and Engineering

fig17

Figure 17

Figure 17: Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.3443pt" id="M1" height="15.7437pt" version="1.1" viewBox="-0.0657574 -11.3994 26.9666 15.7437" width="26.9666pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-73" d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z"/></g><g transform="matrix(.012,0,0,-0.012,13.299,4.134)"><path id="g14-30" d="M1034 231C1034 352 945 457 803 457C686 457 615 395 553 303C486 406 399 457 271 457C159 457 30 375 30 212C30 102 108 -12 267 -12C382 -12 450 51 509 142C577 37 668 -12 799 -12C917 -12 1034 68 1034 231ZM483 186C432 104 369 32 277 32C215 32 175 127 175 249C175 362 216 414 257 414C348 414 423 291 483 186ZM887 200C887 56 847 32 809 32C715 32 640 154 579 260C631 342 696 414 789 414C852 414 887 338 887 200Z"/></g></svg> Robust Control 

Journal of Control Science and Engineering

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

Figure 17