Adaptive Fuzzy Controller Design for Biped Robotic Systems

• Main Authors: Chia-Hao Chang, 張家豪
• Other Authors: Wen-Shyong Yu
• Format: Others
• Language: en_US
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/52986606470070981680

碩士 === 大同大學 === 電機工程學系(所) === 96 === In this thesis, 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 mechanisms, 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. In simulation, we use the robot's hip and leg trajectory. We can find the relation of geometry by computing the trajectories. Using the relation, we can get the angles of the links. We apply the angles as inputs to the propose controller for simulation. We use the data from the output of the controller for the data of the motor of the robot. By using the robot control interface, we apply the data to the robot such that make the robot walk. Finally, simulation results and experiments are given to show the effectiveness, tracking performance and robustness of the proposed control.