Leader–follower formation control of four-legged robots with discrete-valued inputs

Abstract This paper addresses a leader–follower formation control problem for four-legged robots under discrete-valued input constraints. Four-legged are more suitable rough terrain missions than wheeled because the tip positions of their legs can be changed depending on terrain. However, it is difficult to these through continuous-valued inputs they steered by switching between specific movements (i.e., signals). Motivated this fact, we have proposed controllers that achieve fixed formations using inputs, but moving formations, which necessary some applications, not been considered yet. Herein, present solution above based combination PD-like and dynamic quantization. We further introduce performance index evaluate difference two systems whose quantized unquantized analyze feedback system with presented controllers. As result, an upper bound derived as function parameters. useful impact quantization behavior provide theoretical guarantee stability system.