Fuzzy Terminal Sliding Mode Control with Compound Reaching Law and Time Delay Estimation for HDU of Legged Robot

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left">Number</td><td class="align_center" colspan="2">Input sinusoidal signal</td><td class="align_center" colspan="2">Sinusoidal disturbance</td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">①</td><td class="align_center">1 mm</td><td class="align_center">1 Hz</td><td class="align_center">0 N</td><td class="align_center">—</td></tr><tr><td class="align_left">②</td><td class="align_center">1 mm</td><td class="align_center">2 Hz</td><td class="align_center">0 N</td><td class="align_center">—</td></tr><tr><td class="align_left">③</td><td class="align_center">2 mm</td><td class="align_center">1 Hz</td><td class="align_center">0 N</td><td class="align_center">—</td></tr><tr><td class="align_left">④</td><td class="align_center">2 mm</td><td class="align_center">2 Hz</td><td class="align_center">0 N</td><td class="align_center">—</td></tr><tr><td class="align_left">⑤</td><td class="align_center">0 mm</td><td class="align_center">—</td><td class="align_center">1000 N</td><td class="align_center">1 Hz</td></tr><tr><td class="align_left">⑥</td><td class="align_center">0 mm</td><td class="align_center">—</td><td class="align_center">1000 N</td><td class="align_center">2 Hz</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Experimental plan of the HDU performance test platform.</div>

Complexity

tab4

Table 4

Table 4: Fuzzy Terminal Sliding Mode Control with Compound Reaching Law and Time Delay Estimation for HDU of Legged Robot 