Adaptive fuzzy controller design for biped robotic systems

In this paper, an adaptive fuzzy control scheme is proposed for biped robotic systems. A reference model with the desired amplitude and phase properties is given to construct an error model. A fuzzy system is used to approximate an unknown controlled system. The adaptive fuzzy control scheme uses two adaptive machanisms, which allows for inclusion of training the weights of the fuzzy system and the approximation error estimator of the fuzzy system simultaneously. The stability and robustness properties of the proposed adaptive fuzzy control scheme are established by using Lyapunov stability tools. Finally, simulation results and experiments are given to show the effectiveness, tracking performance and robustness of the proposed control.