In this paper we use the bond graph modeling to control a mobile walking robots’ leg. The legs’ structure presents two degrees of freedom for an easy understanding of the control laws’ behavior. Along with this approach we used the sliding motion control method, which is a dynamic position control method, to achieve the reference tracking control. Also, a fuzzy control law was added to the main feedback loop, to improve the tracking speed and to lower the time needed by the legs’ foot to reach the desired reference position. Compared to others, we achieved to eliminate override, a better time in reaching the desired position and a lower error rate.

Keywords: Sliding motion montrol, Bond graph, Dynamic control, Fuzzy control