Locomotion Control of a Hydraulically Actuated Hexapod Robot by Robust Adaptive Fuzzy Control with Self-Tuned Adaptation Gain and Dead Zone Fuzzy Pre-compensation.
Ranjit Kumar BaraiKenzo NonamiPublished in: J. Intell. Robotic Syst. (2008)
Keyphrases
- legged robots
- fuzzy control
- inverted pendulum
- fuzzy controller
- nonlinear systems
- dead zone
- control scheme
- takagi sugeno
- fuzzy rules
- control system
- fuzzy logic
- adaptive neural
- fuzzy systems
- fuzzy logic controller
- control method
- membership functions
- control law
- fuzzy model
- control strategy
- variable structure
- pid control
- input output
- adaptive control
- control algorithm
- robot manipulators
- fuzzy control systems
- mobile robot
- fuzzy neural network
- pi controller
- internal model control
- pid controller
- evolutionary algorithm
- rule base
- robot control
- intelligent control
- closed loop
- fuzzy sets
- fuzzy inference system
- robotic systems
- nonlinear functions
- soft computing
- mathematical model
- computational intelligence
- knowledge base
- neural network