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, Yu 4
刊名	NEUROCOMPUTING
	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.
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关键词	ITERATIVE LEARNING CONTROL ; NETWORK CONTROL ; VIBRATION CONTROL ; MULTIPLE MODELS ; MOTION CONTROL ; FUZZY CONTROL ; SYSTEMS ; COMPENSATION ; TRACKING ; DESIGN
WOS研究方向	Computer Science
语种	英语
出版者	ELSEVIER SCIENCE BV
WOS记录号	WOS:000453924300043
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
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/25677]
专题	中国科学院自动化研究所
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.