Title :
Hybrid intelligent joint controller for humanoid robot
Author :
Yang, Peng ; Kong, Xin ; Liu, Zuo-Jun ; Chen, He ; Zhao, Qi ; Liu, Jia
Author_Institution :
Dept. of Autom., Hebei Univ. of Technol., Tianjin, China
Abstract :
The requirements for humanoid robot joint controller include small size, low dissipation, high control precision and response speed. Aimed at these requirements, a new control strategy that combines fuzzy PD control with single neuron self-adapting PID control is proposed. Experiments show that this control strategy could improve response speed, control precision and robustness.
Keywords :
PD control; adaptive control; fuzzy control; humanoid robots; intelligent control; multivariable control systems; neurocontrollers; nonlinear control systems; self-adjusting systems; three-term control; time-varying systems; dual mode control; fuzzy PD control; humanoid robot; hybrid intelligent joint controller; neuron self-adapting PID control; Automatic control; Control systems; Fuzzy control; Humanoid robots; Intelligent robots; Joints; Motion control; Pulse width modulation; Robot control; Three-term control; dual mode control; fuzzy control; humanoid robot; joint control;
Conference_Titel :
Machine Learning and Cybernetics, 2005. Proceedings of 2005 International Conference on
Conference_Location :
Guangzhou, China
Print_ISBN :
0-7803-9091-1
DOI :
10.1109/ICMLC.2005.1527672
