Attitude Control of the Biped Robot Using Intelligent Fuzzy Neural Control
學年 104
學期 1
發表日期 2015-11-04
作品名稱 Attitude Control of the Biped Robot Using Intelligent Fuzzy Neural Control
作品名稱(其他語言)
著者 C.C. Liu; C.F. Hsu; T.T. Lee; C.C. Wong
作品所屬單位
出版者
會議名稱 the 16th International Symposium on Advanced Intelligent Systems
會議地點 Mokpo, South Korea
摘要 This paper proposes an intelligent fuzzy neural control (IFNC) to rectify the nonlinear system dynamic of a biped robot. The proposed IFNC system is composed of a neural controller and a robust controller. The neural controller uses a perturbed fuzzy neural network (PFNN) to approximate an ideal controller and the robust controller is designed to guarantee system stability. The controller parameters of the IFNC system are on-line tuned in the sense of Lyapunov function, thus the system stability can be guaranteed. Finally, the proposed IFNC system is applied to a nine-link biped robot to show its effectiveness. The simulation results show that the proposed IFNC system can achieve favorable attitude control performance for a biped robot.
關鍵字
語言 en
收錄於
會議性質 國際
校內研討會地點
研討會時間 20151104~20151107
通訊作者 C.F. Hsu
國別 KOR
公開徵稿
出版型式
出處 the 16th International Symposium on Advanced Intelligent Systems, pp.1-8
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/107358 )