A new approach of sliding motion robot control using bond graph

In this paper we used bond graphs to design a sliding motion control. After building the bond graph database with the new elements, we designed a 2DOF walking robot which we controlled. Along with a fuzzy control law that improves the tracking speed, we eliminated the overrides that appear in controlling the foot when disturbances appear. Compared to others we also achieved a lower error rate and a better time in reaching the desired position.