Adaptive neural control of quadruped robots with input deadzone

doi:10.1016/j.neucom.2018.09.032

	Adaptive neural control of quadruped robots with input deadzone
	Zhang, Shuang 1,2; Zhang, Donghao 1,2; Chang, Cheng 3; Fu, Qiang 1,2; Wang, Yu4
发表期刊	NEUROCOMPUTING
ISSN	0925-2312
	2019-02-15
卷号	329 页码:486-494
通讯作者	Zhang, Shuang(zhangshuang.ac@gmail.com)
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.
关键词	Quadruped robot Neural networks Input deadzone Full state feedback Output feedback
DOI	10.1016/j.neucom.2018.09.032
关键词[WOS]	ITERATIVE LEARNING CONTROL ; NETWORK CONTROL ; VIBRATION CONTROL ; MULTIPLE MODELS ; MOTION CONTROL ; FUZZY CONTROL ; SYSTEMS ; COMPENSATION ; TRACKING ; DESIGN
收录类别	SCI
语种	英语
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] ; 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]
项目资助者	National Natural Science Foundation of China ; Beijing Science and Technology Project ; Fundamental Research Funds for the China Central Universities of USTB
WOS研究方向	Computer Science
WOS类目	Computer Science, Artificial Intelligence
WOS记录号	WOS:000453924300043
出版者	ELSEVIER SCIENCE BV
引用统计	被引频次：6[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/25678
专题	复杂系统认知与决策实验室_先进机器人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.