Stability Analysis of a Feedback-linearization-based Controller with Saturation: A Tilt Vehicle with the Penguin-inspired Gait Plan.
Zhe ShenYudong MaTakeshi TsuchiyaPublished in: CoRR (2021)
Keyphrases
- stability analysis
- nonlinear systems
- biped robot
- dead zone
- sliding mode
- inverted pendulum
- fuzzy control systems
- real time
- quadruped robot
- limit cycle
- fuzzy controller
- adaptive neural
- adaptive fuzzy
- adaptive control
- control law
- legged robots
- control system
- walking speed
- neural network
- control strategy
- pattern recognition
- stability margin
- sliding mode control
- genetic algorithm
- computational intelligence
- learning rate
- gait recognition