FPGA-based real-time implementation of an adaptive RCMAC control system
WSEAS Transactions on Circuits and Systems
Foot and body control of biped robots to walk on irregularly protruded uneven surfaces
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on human computing
Self-organizing CMAC control for a class of MIMO uncertain nonlinear systems
IEEE Transactions on Neural Networks
Adaptive wavelet neural controller design for a DC-DC power converter using an FPGA chip
WSEAS Transactions on Systems and Control
Balance control of biped robot running with one arm in task motion
ACMIN'12 Proceedings of the 14th international conference on Automatic Control, Modelling & Simulation, and Proceedings of the 11th international conference on Microelectronics, Nanoelectronics, Optoelectronics
Fast damage recovery in robotics with the T-resilience algorithm
International Journal of Robotics Research
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A design technique of a recurrent cerebellar model articulation controller (RCMAC)-based fault-tolerant control (FTC) system is investigated to rectify the nonlinear faults of a biped robot. The proposed RCMAC-based FTC (RCFTC) scheme contains two components: 1) an online fault estimation module based on an RCMAC is used to provide approximation information for any nonnominal behavior due to the system failure and modeling error of the biped robot; and 2) a controller module consisting of a computed torque controller and a robust FTC is utilized to achieve FTC. In the controller module, the computed torque controller reveals a basic stabilizing controller to stabilize the system, and the robust FTC is utilized to compensate for the effects of the system failure so as to achieve fault accommodation. The adaptive laws of the RCFTC system are rigorously established based on the Lyapunov function, so that the stability of the system can be guaranteed. Finally, two simulation cases of a biped robot are presented to illustrate the effectiveness of the proposed design method. Simulation results show that the RCFTC system can effectively recover the control performance for the system in the presence of the nonlinear faults and modeling uncertainties