Robust Recurrent Neural Network Control of Biped Robot

Authors:
Yilei Wu;Qing Song;Xulei Yang
Affiliations:
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore 639798;School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore 639798;School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore 639798
Venue:
Journal of Intelligent and Robotic Systems
Year:
2007

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Abstract

In this paper, a recurrent neural network (RNN) control scheme is proposed for a biped robot trajectory tracking system. An adaptive online training algorithm is optimized to improve the transient response of the network via so-called conic sector theorem. Furthermore, L 2-stability of weight estimation error of RNN is guaranteed such that the robustness of the controller is ensured in the presence of uncertainties. In consideration of practical applications, the algorithm is developed in the discrete-time domain. Simulations for a seven-link robot model are presented to justify the advantage of the proposed approach. We give comparisons between the standard PD control and the proposed RNN compensation method.