T-S fuzzy model was applied to describe nonlinear system and global fuzzy model was expressed by the form of uncertain system.Based on robust state feedback H_∞control strategy,designed a global asymptotic steady fuz...T-S fuzzy model was applied to describe nonlinear system and global fuzzy model was expressed by the form of uncertain system.Based on robust state feedback H_∞control strategy,designed a global asymptotic steady fuzzy model.This control system can use the experimental input-output data pairs for the biped robot learning and walking with dynamic balance.It is proved by simulation result that robust state feedback H_∞control method based on T-S fuzzy model can effectively restrain the effect of model uncertainties and external disturbance acting on biped robot.From these works,we showed the satisfactory performance of joint tracking without any chattering.展开更多
文摘T-S fuzzy model was applied to describe nonlinear system and global fuzzy model was expressed by the form of uncertain system.Based on robust state feedback H_∞control strategy,designed a global asymptotic steady fuzzy model.This control system can use the experimental input-output data pairs for the biped robot learning and walking with dynamic balance.It is proved by simulation result that robust state feedback H_∞control method based on T-S fuzzy model can effectively restrain the effect of model uncertainties and external disturbance acting on biped robot.From these works,we showed the satisfactory performance of joint tracking without any chattering.
