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標題:Attitude Control of the Biped Robot Using Intelligent Fuzzy Neural Control
學年
學期
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
語言英文
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
國別韓國
公開徵稿
出版型式
出處the 16th International Symposium on Advanced Intelligent Systems, pp.1-8
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