In order to improve the servo accuracy of hydraulic quadruped robot electro-hydraulic servo actuators during operation,the equivalent model of electro-hydraulic servo actuators was derived and the load characteristic was analyzed,the compound control strategy including flow compensation and minimal control synthesis was proposed,and the principle of compound control strategy was given.The effect of the external disturbance force and inertia loads on the performance of actuator was inhibited by the flow compensation and the proportion closed-loop,respectively,the accuracy was further improved by the minimal control synthesis controller.The correctness of the co-simulation of MATLAB & AMESim model was verified by experiment.On the condition of inertia load variation and random interference force，the electro-hydraulic position servo experiment was simulated in co-simulation environment,and the simulation results showed that the parameters variation of actuator was inhibited effectively by the compound control strategy, the maximum amplitude attenuation and phase lag was less than 10% and 10°,respectively,and the efficiency of the proposed control strategy was verified.
