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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/107354


    Title: Attitude control of the biped robot using intelligent fuzzy neural control
    Authors: Liu, Chih-Cheng;Hsu, Chun-Fei;Lee, Tsu-Tian;Wong, Ching-Chang
    Date: 2015-11-05
    Issue Date: 2016-08-18 13:38:41 (UTC+8)
    Abstract: 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.
    Relation: 16th International Symposium on Advanced Intelligent Systems
    Appears in Collections:[電機工程學系暨研究所] 會議論文

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