ADAPTIVE RECURRENT CEREBELLAR ERROR OBSERVER FOR ROBUST DYNAMIC BIPED WALKING

Helin Wang; Qijun Chen; Hao Zhang

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ADAPTIVE RECURRENT CEREBELLAR ERROR OBSERVER FOR ROBUST DYNAMIC BIPED WALKING

机译：ADAPTIVE RECURRENT CEREBELLAR ERROR OBSERVER FOR ROBUST DYNAMIC BIPED WALKING

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摘要

This paper is concerned with the robust and efficient dynamic walking of biped robots under disturbances. The walking system is controlled based on the sliding mode control over a recurrent cerebellar model neural network. Due to instantaneous change of two legs and complex dynamics during the walking process, the robot can be regarded as a non-linear system, which is strong coupling and hybrid. The robot's dynamic robust walking is turned into the stability analysis problem of a multi-input/multi-output non-linear system with bounded uncertainties. A robust sliding mode controller is designed to make the robot walking system asymptotically stable on the sliding surface in finite time. To estimate and compensate the upper bound of the error, recurrent cerebellar error observer is applied in the proposed control scheme, in which the learning factors of network weight are adjusted adaptively. Finally, the effectiveness and advantages of the proposed schemes are illustrated by some simulations and comparisons.

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来源
《International Journal of Robotics & Automation》 |2022年第5期|400-410|共11页
作者
Helin Wang; Qijun Chen; Hao Zhang;
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作者单位

Department of Control Science and Engineering, Tongji University;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Biped walking; External disturbance uncertainty; Sliding mode control; Recurrent cerebellar error observer;

ADAPTIVE RECURRENT CEREBELLAR ERROR OBSERVER FOR ROBUST DYNAMIC BIPED WALKING

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