DocumentCode :
3178713
Title :
Robust Adaptive Fuzzy Control Law for Locomotion Control of a Hexapod Robot Actuated by Hydraulic Actuators with Dead Zone
Author :
Barai, Ranjit Kumar ; Nonami, Kenzo
Author_Institution :
Graduate Sch. of Sci. & Technol., Chiba Univ.
fYear :
2006
fDate :
9-15 Oct. 2006
Firstpage :
2179
Lastpage :
2184
Abstract :
This investigation presents development of a robust adaptive fuzzy controller for the locomotion control of a hydraulically actuated leg mechanism of a six-legged walking robot COMET-III. The hydraulic servo system of the robot is characterised by dead zone and other nonlinearities as well as uncertainties due to parameter variation. Therefore, adaptive fuzzy control system is a good choice for such problem. However, due to approximation errors caused by the fuzzy system we need to ensure the robustness of the adaptive fuzzy controller by some mechanism. The adaptation law is designed based on Lyapunov synthesis approach. The dead zone is compensated by a fuzzy rule based one-step-ahead controller. The experimental results exhibit a very stable locomotion system of the walking robot with tracking error in the small neighbourhood of zero
Keywords :
Lyapunov methods; adaptive control; fuzzy control; hydraulic actuators; legged locomotion; robust control; servomechanisms; COMET-III; Lyapunov synthesis; hexapod robot; hydraulic actuators; hydraulic servo system; locomotion control; robust adaptive fuzzy control; six-legged walking robot; Adaptive control; Fuzzy control; Fuzzy systems; Hydraulic actuators; Leg; Legged locomotion; Programmable control; Robots; Robust control; Servomechanisms; Hydraulic actuator; Robot Locomotion; Robust adaptive fuzzy control (RAFC); Six legged walking robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
Type :
conf
DOI :
10.1109/IROS.2006.282557
Filename :
4058707
Link To Document :
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