Guaranteed cost non-fragile controller of quadruped search-rescue robot based on mechanism system design

Peng Wang, Jixiang Li, Yuan Zhang

Research output: Contribution to journalArticlepeer-review


The mechanical body of quadruped search-rescue robot is the carrier that should be to satisfy its search and rescue activities. Its structure directly determines the kinematics and dynamics for quadruped search-rescue robot. The mechanism system design of quadruped robot mainly includes the structure of robot leg and foot, layout of leg and foot, the number of legs. The leg structure determines walking characteristics of the search and rescue robot. According to the actual mechanical structure of the quadruped search-rescue robot, a new controller is proposed. A guaranteed cost non-fragile robust controller is designed for control of quadruped search-rescue robot discrete singular system. The constraint inequation is transformed into a strict linear inequality by using two equalities; the controller and the guaranteed cost upper bound are given based on the solutions of the linear matrix inequality. And the approaches of designing the controller are given in terms of linear matrix inequalities. The numerical example is given to illustrate its feasibility. Simulation results show that state tends to zero, the system is stable.

Original languageEnglish
Pages (from-to)8159-8166
Number of pages8
JournalJournal of Computational Information Systems
Issue number19
StatePublished - 1 Oct 2012
Externally publishedYes


  • Guaranteed cost non-fragile controller
  • Mechanism system design
  • Numerical simulation
  • Quadruped search-rescue robot


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