Observer-Based Adaptive Fuzzy Output Feedback Control for Biped Robotic Systems
碩士 === 大同大學 === 電機工程學系(所) === 97 === In this thesis, an observer-based indirect adaptive fuzzy output feedback control scheme is proposed for biped robotic system. Fuzzy logic systems are employed to approximate the biped unknown nonlinear functions. A state observer is designed for estimating the s...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | en_US |
| Published: |
2009
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/88577291075704443748 |
| Summary: | 碩士 === 大同大學 === 電機工程學系(所) === 97 === In this thesis, an observer-based indirect adaptive fuzzy output feedback control scheme is proposed for biped robotic system. Fuzzy logic systems are employed to approximate the biped unknown nonlinear functions. A state observer is designed for estimating the states of the plant since they are not available for measurement. In addition, we use a regularized inverse function to overcome the control singularity problem.Based on Lyapunov stability analysis, the adaptive laws can guarantee convergence of the system states and boundedness of tracking errors. The experiment results demonstrate the effectiveness and robustness of the proposed control scheme, and also maintain a good tracking performance.
|
|---|