Adaptive neural control of quadruped robots with input deadzone
文献类型：期刊论文
| 作者 | Zhang, Shuang1,2; Zhang, Donghao1,2; Chang, Cheng3; Fu, Qiang1,2; Wang, Yu4
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| 刊名 | NEUROCOMPUTING
 |
| 出版日期 | 2019-02-15 |
| 卷号 | 329页码:486-494 |
| 关键词 | Quadruped robot Neural networks Input deadzone Full state feedback Output feedback |
| ISSN号 | 0925-2312 |
| DOI | 10.1016/j.neucom.2018.09.032 |
| 通讯作者 | Zhang, Shuang(zhangshuang.ac@gmail.com) |
| 英文摘要 | In this paper, neural network control are presented for a quadruped robot with input deadzone. The study is aiming at the compensation for input deadzone and the control of trajectory using radial basis function neural networks under both full state feedback and output feedback. Neural networks are utlized to estimate the unknown parameters in the quadruped robot model and compensate for input deadzone. The closed-loop stability is proved by Lyapunov's stability theorem. The extensive simulations are conducted to show the validity of the proposed control. (C) 2018 Elsevier B.V. All rights reserved. |
| WOS关键词 | ITERATIVE LEARNING CONTROL ; NETWORK CONTROL ; VIBRATION CONTROL ; MULTIPLE MODELS ; MOTION CONTROL ; FUZZY CONTROL ; SYSTEMS ; COMPENSATION ; TRACKING ; DESIGN |
| 资助项目 | National Natural Science Foundation of China[61873297] ; National Natural Science Foundation of China[61803025] ; Beijing Science and Technology Project[Z18110 0 0 031180 06] ; Fundamental Research Funds for the China Central Universities of USTB[FRF-BD-17-002A] |
| WOS研究方向 | Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000453924300043 |
| 出版者 | ELSEVIER SCIENCE BV |
| 资助机构 | National Natural Science Foundation of China ; Beijing Science and Technology Project ; Fundamental Research Funds for the China Central Universities of USTB |
| 源URL | [http://ir.ia.ac.cn/handle/173211/25677]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 自动化研究所_复杂系统管理与控制国家重点实验室 |
| 通讯作者 | Zhang, Shuang |
| 作者单位 | 1.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China 2.Univ Sci & Technol Beijing, Inst Artificial Intelligence, Beijing 100083, Peoples R China 3.Huazhong Univ Sci & Technol, Sch Automat, Wuhan 430074, Hubei, Peoples R China 4.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Shuang,Zhang, Donghao,Chang, Cheng,et al. Adaptive neural control of quadruped robots with input deadzone[J]. NEUROCOMPUTING,2019,329:486-494. |
| APA | Zhang, Shuang,Zhang, Donghao,Chang, Cheng,Fu, Qiang,&Wang, Yu.(2019).Adaptive neural control of quadruped robots with input deadzone.NEUROCOMPUTING,329,486-494. |
| MLA | Zhang, Shuang,et al."Adaptive neural control of quadruped robots with input deadzone".NEUROCOMPUTING 329(2019):486-494. |
入库方式： OAI收割
来源：自动化研究所
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