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

Volume

1

fYear

2003

Firstpage

254

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 2003. FUZZ '03. The 12th IEEE International Conference on

Print_ISBN

0-7803-7810-5

Type

conf

DOI

10.1109/FUZZ.2003.1209371

Filename

1209371