Adaptive Time-Delay Attitude Control of Jumping Robots Based on Voltage Control Model

This paper presents an adaptive control framework for the attitude control of jumping robot with time-delay estimation(TDE). For handling the uncertainties and unknown coupling of motors, voltage-based motor control was presented. Compared to the current-based control model, the voltage-based control model is more computationally simple and realistic. The proposed adaptive law was designed to compensate the error produced by TDE, without considering the threshold value of control parameters. By the stability analysis, the control framework was verified by the semi-globally uniformly ultimately bounded stability. Experiment results have been discussed and the effectiveness of the adaptive control framework have been demonstrated. The adaptive control framework can adjust the jumping robot with minimal craftsmanship and provide the natural adaptive of a control policy.