Paper:
Language: English:
Adaptive Fuzzy Control of One Linear Actuator Hopping Robot
Son Kuswadi*,**, Mitsuji Sampei***, and Shigeki Nakaura***
*Department of Mechanical and Environmental Informatics, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo, 152-8552 Japan
**Electronic Engineering Polytechnic Institute of Surabaya, Kampus ITS Keputih Sukolilo Surabaya 60111, Indonesia
***Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo, 152-8552 Japan
Received: February 2, 2003
Accepted: February 26, 2003
Keywords: intelligent control, adaptive control, robotics, fuzzy control, non-holonomics
Journal ref: Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.7, No.2 pp. 92-100, 2003
Abstract
This work demonstrates the applicability of adaptive fuzzy control approach to control one linear actuator hopping robot. Our simple approach uses linearized model to design a state feedback servo controller. Afterward, by using fuzzy networks we developed self-tuning adaptive control to handle nonlinearity of the robot. The continuous hopping gait was realized by simulation.
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