A type-2 fuzzy switching control system for biped robots

被引：72

作者：

Liu, Zhi ^{[1
]}

Zhang, Yun

Wang, Yaonan

机构：

[1] Guangdong Univ Technol, Dept Automat, Guangzhou 510006, Peoples R China

[2] Humanitas Univ, Dept Elect Engn, Changsha 410082, Peoples R China

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS | 2007年 / 37卷 / 06期

基金：

中国国家自然科学基金;

关键词：

biped robot; fuzzy c-mean algorithm; fuzzy; c-mean variance algorithm; switched nonlinear system; type-2 fuzzy switching control;

D O I：

10.1109/TSMCC.2007.900649

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, a type-2 fuzzy switching control system is proposed for a biped robot, which includes switched nonlinear system modeling, type-2 fuzzy control system design, and a type-2 fuzzy modeling algorithm. A new switched system model is proposed to represent the continuous-time dynamic and discrete-event dynamic of a walking biped as a whole, which is helpful to analyze the closed-loop stability of the biped locomotion. A type-2 fuzzy switching control system is proposed for the switched system model to guarantee the gait stability and to achieve a robust control performance with a simplified control scheme. Finally, we propose a new fuzzy c-mean variance algorithm for the type-2 fuzzy system modeling to capture the variance of each clustering means, which can translate random uncertainties of original data into rule uncertainties. Simulation results are reported to show the performance of the proposed control system model and algorithms.

引用

页码：1202 / 1213

页数：12

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