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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, 2003Accepted:February 26, 2003Published:June 20, 2003
Keywords:intelligent control, adaptive control, robotics, fuzzy control, non-holonomics
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.
Cite this article as:S. Kuswadi, M. Sampei, and S. Nakaura, “Adaptive Fuzzy Control of One Linear Actuator Hopping Robot,” J. Adv. Comput. Intell. Intell. Inform., Vol.7 No.2, pp. 92-100, 2003.Data files:
