제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Sliding Mode Control of 5-link Biped Robot Using Wavelet Neural Network

  • Kim, Chul-Ha (Department of Electrical & Electronic Engineering, Yonsei University) ;
  • Yu, Sung-Jin (Department of Electrical & Electronic Engineering, Yonsei University) ;
  • Park, Jin-Bae (Department of Electrical & Electronic Engineering, Yonsei University) ;
  • Choi, Yoon-Ho (School of Electronic Engineering, Kyonggi University)
  • Published : 2005.06.02
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Abstract

Generally, biped walking is difficult to control because it is a nonlinear system with various uncertainties. In this paper, we design a robust control system based on sliding-mode control (SMC) of 5-link biped robot using the wavelet neural network(WNN), in order to improve the efficiency of position tracking performance of biped locomotion. In our control system, the WNN is utilized to estimate uncertain and nonlinear system parameters, where the weights of WNN are trained by adaptive laws that are induced from the Lyapunov stability theorem. Finally, the effectiveness of the proposed control system is verified by computer simulations.

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