會議論文
| 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 | 無 |
| 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 ) |