淡江大學機構典藏:Item 987654321/107358
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    题名: Attitude Control of the Biped Robot Using Intelligent Fuzzy Neural Control
    作者: Liu, C.C.;Hsu, C.F.;Lee, T.T.;Wong, C.C.
    日期: 2015-11-05
    上传时间: 2016-08-18 13:38:49 (UTC+8)
    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.
    關聯: the 16th International Symposium on Advanced Intelligent Systems, pp.1-8
    显示于类别:[電機工程學系暨研究所] 會議論文

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