Title :
Model reference adaptive fuzzy control for one linear actuator hopping robot
Author :
Kuswadi, Son ; Sampei, Mitsuji ; Nakaura, Shigeki
Author_Institution :
Dept. of Mech. & Environ. Informatics, Tokyo Inst. of Technol., Japan
Abstract :
The present paper is concerned with an adaptive fuzzy control approach to control one linear actuator hopping robot. Our simple approach uses linearized model to design a state feedback servo controller. Thereafter, by using fuzzy networks we developed model reference adaptive fuzzy control in which a fuzzy network is used to compensate the nonlinearity of robot dynamics. The role of the fuzzy network is to construct a linearized model by minimizing the output error caused by nonlinearity in the robot control system through the proposed learning mechanism. The continuous hopping gait was realized by simulation.
Keywords :
actuators; fuzzy control; legged locomotion; linearisation techniques; model reference adaptive control systems; on-off control; robot dynamics; servomechanisms; state feedback; continuous hopping gait; control strategy; linearized model; model reference adaptive fuzzy control; on-off actuator; one linear actuator hopping robot; output error; robot dynamics nonlinearity; simulation; state feedback servocontroller; Adaptive control; Fuzzy control; Fuzzy systems; Hydraulic actuators; Linear feedback control systems; Nonlinear dynamical systems; Programmable control; Robots; Servomechanisms; State feedback;
Conference_Titel :
Fuzzy Systems, 2003. FUZZ '03. The 12th IEEE International Conference on
Print_ISBN :
0-7803-7810-5
DOI :
10.1109/FUZZ.2003.1209371
