Design of active disturbance rejection controller for biarticular legged robot

This paper studies the Active Disturbance Rejection Controller design for biarticular legged robot. Based on biarticular legged robot, this paper first uses Lagrange method to establish the dynamic model. In order to control this nonlinear and strongly coupled system, a decoupling control method is analyzed, and then, Active Disturbance Rejection Controller (ADRC) is adopted to realize decoupling control of each joint angle. The simulation results show that, ADRC which is composed of the Tracking Differentiator (TD), Extended State Observer (ESO) and Nonlinear State Error Feedback (NLSEF) control law, has a good tracking and disturbance compensation effect.