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.
the 16th International Symposium on Advanced Intelligent Systems, pp.1-8