Type-2 Fuzzy Logic Controller Using SRUKF-Based State Estimations for Biped Walking Robots
作者： Liyang Wang , Zhi Liu , Yun Zhang , CL Philip Chen , Xin Chen
DOI:
关键词: Gait control 、 Square root unscented kalman filter 、 Biped robot 、 Computer science 、 Fuzzy logic 、 State estimator 、 Fuzzy logic controller 、 Dynamic balance 、 Robot 、 Control theory
摘要: Walking motions of biped robots have features humanoid and intelligent. Generally, when we human are walking, may control the walking using qualitative instructions, such as linguistic ”slow” or ”fast,” ”forward” ”backward,” ”big step” ”small step”. This motivates us to design a fuzzy controller for robots. Furthermore, improve robustness system, framework gait based on predictable type-2 logic (T2FLC) is proposed ensure dynamic balance under condition complex process noises measurement noises. Different with existing controllers robots, state estimator square root unscented Kalman filter (SRUKF) incorporated in strategy. Using estimated states inputs, T2FLC can predictably adjust posture trunk timely properly whole legged system. Simulation results presented verify effectiveness method.
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