The Design of Sliding Mode Controller for Knee Joints of the Humanoid Robots

In order to obtain the better anti-jamming ability and solve the inaccurate of speed tracing for the knee joints of the humanoid robots, the control system is designed to enhance the performance of the motion of the joints. The sliding mode controller for speed loop and the internal model controller for current loop based on the space vector pulse width modulation (SVPWM) algorithm are introduced to enhance the tracing frequency and position control precision of the knee joints. The simulation results show that the speed error is reduced to 0.5% and the overshoot is less than 2%by the sliding mode controller when the joints change the movement direction, meanwhile, the speed tracing commands is faster and the robustness is stronger contrasted with the PID controller.