Research on Anti-jamming control of Hexapod Robot Based on ADRC

As a kind of equipment widely used in industrial aerospace, disaster detection and other fields, the technology related to hexapod robot has become mature, but from the perspective of motion control, especially for the problem of poor stability and anti-interference ability caused by traditional PID controller, it has not been well solved. In this paper, based on the auto disturbance rejection control(ADRC) technology, the control scheme of hexapod robot is improved. First, a reasonable assumption is introduced to simplify the model, and Newton mechanics analysis method is used to model the system. Then the simulation model is established in MATLAB, and the simulation test is carried out. Compared with the traditional PID, the transition process of ADRC based attitude balance control and position control method only takes about 4 seconds, with short time and fast response speed, which improves its anti-interference and variable load response ability, thus verifying the effectiveness of the new control method.