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Title page for etd-0909109-113119


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 indicate access worldwide
    Date of Defense 2009-07-31 Date of Submission 2009-09-09


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