By Topic

Observer-based adaptive fuzzy output feedback control for biped robotic systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Wen-Shyong Yu ; Dept. of Electr. Eng., Tatung Univ., Taipei, Taiwan

In this paper, an observer-based indirect adaptive fuzzy output feedback control scheme is proposed for a biped robotic system. Fuzzy logic systems are employed to approximate the biped unknown nonlinear functions. Based on the fuzzy system, a state observer is designed for estimating the states of the controlled system. In addition, we use a regularized inverse function to overcome the control singularity problem. Based on Lyapunov stability analysis, convergence of the system states and boundedness of tracking errors can be achieved by the proposed control scheme. The experiment results are used to demonstrate the effectiveness and robustness of the proposed control scheme, and the tracking performance.

Published in:

Fuzzy Systems (FUZZ), 2010 IEEE International Conference on

Date of Conference:

18-23 July 2010