Upright balance control of hexapod robot based on quadratic error differential PID algorithm

Aiming at the problem of erect balance control of hexapod robot, a new PID control algorithm is proposed. Based on the Lagrange equation method, the erect equilibrium state of the hexapod robot is modeled. For the erect balance control problem of the hexapod robot, a quadratic error differential parameter self-tuning including the secant saturation module is proposed. The simulation results verified that the proposed algorithm is feasible, moreover compared with traditional method better balance control performance can be achieved.