%0 Journal Article
%T Five-Link Biped Robot Hybrid Control via Fuzzy Neural Networks<br>基于模糊神经网络的5连杆双足机器人混杂控制（英文）
%A LIU Zhi
%A LI Chunwen
%A <br>刘　治
%A 李春文
%J 控制理论与应用
%D 2002
%I 
%X The paper presents a new fuzzy neural networks (FNN) hybrid controller to solve the trajectory tracking problem of biped robots in the single_support phase. The advantages of fuzzy neural network, H-infinity controller and inverse system method are integrated in this paper for control purpose. A new multi-layers fuzzy CMAC is applied to approximate the system information of biped robot .On the one hand, we regard construction errors of FNN as external disturbances, and then use H-infinity controller to attenuate such disturbances. On the other hand, apply the strong approximate capability of FNN to construct the inverse system and offer efficient system information to H-infinity controller. As the result, L-2 gain can be attenuated by the presented fuzzy neural network structure and adaptive algorithm.
%K robotic control
%K hybrid control
%K FNN
%K robust control
%K inverse system method<br>机器人控制
%K 混杂控制
%K 模糊神经网络
%K 鲁棒控制
%K 逆系统方法
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=E198159EA78CFA04&yid=C3ACC247184A22C1&vid=2A8D03AD8076A2E3&iid=38B194292C032A66&sid=9D9F10A828991FA6&eid=A04F01817ECB9A48&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=2&reference_num=8