|Robust Control of Planar Biped Robots in Single Support Phase Using Intelligent Adaptive Backstepping Technique
Sung Jin Yoo, Jin Bae Park*, and Yoon Ho Choi
International Journal of Control, Automation, and Systems, vol. 5, no. 3, pp.269-282, 2007
Abstract : This paper presents a robust control method via the intelligent adaptive backstepping design technique for stable walking of nine-link biped robots with unknown model uncertainties and external disturbances. In our control structure, the self recurrent wavelet neural network (SRWNN) which has the information storage ability is used to observe the uncertainties of the biped robots. The adaptation laws for all weights of the SRWNN are induced from the Lyapunov stability theorem, which are used for on-line controlling biped robots. Also, we prove that all signals in the closed-loop adaptive system are uniformly ultimately bounded. Through computer simulations of a nine-link biped robot with model uncertainties and external disturbances, we illustrate the effectiveness of the proposed control system.
Keyword : Backstepping design, biped robot, recurrent wavelet neural network, robust control.