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URN etd-0909109-113119 Statistics This thesis had been viewed 2615 times. Download 395 times. Author Min-Jung Huang Author's Email Address No Public. Department Electrical Engineering Year 2008 Semester 2 Degree Master Type of Document Master's Thesis Language English Page Count 142 Title Observer-Based Adaptive Fuzzy Output Feedback Control for Biped Robotic Systems Keyword regularized inverse observer adaptive fuzzy biped robot biped robot adaptive fuzzy observer regularized inverse Abstract 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. Advisor Committee Wen-Shyong Yu - advisor
Chih-Lyang Hwang - co-chair
Yen-Cheng Lin - co-chair
Files Date of Defense 2009-07-31 Date of Submission 2009-09-09