2014 International Conference on Automatic Control Theory and Application

Novel Robust Walking for Biped Robot Using Adaptive Neural PID Controller

Authors
Anh Ho Pham Huy, Huan Tran Thien, Nam Nguyen Thanh
Corresponding Author
Anh Ho Pham Huy
Available Online June 2014.
DOI
10.2991/acta-14.2014.22How to use a DOI?
Keywords
Biped robot; Adaptive Neural PID (AN-PID) controller; Auto-Tuning Gain Scheduling; Robust Walking
Abstract

This paper presents the design, development and implementation of a novel adaptive neural PID (AN-PID) controller suitable for real-time robust walking biped robot control application. The unique feature of the proposed AN-PID controller is that it has highly simple and dynamic self-organizing structure, fast online-tuning speed and flexibility in online-updating. The proposed adaptive algorithm focuses on efficiently optimizing Gain Scheduling and PID weighting parameters of neural MLPNN model integrated in the proposed AN-PID controller. This implemented AN-PID controller aims to successfully control the robust walking of the highly nonlinear full-sized biped robot HUBOT-3. The performance of this novel neural-based PID controller was found to be outperforming in comparison with conventional PID controller.

Copyright
© 2014, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
2014 International Conference on Automatic Control Theory and Application
Series
Advances in Social Science, Education and Humanities Research
Publication Date
June 2014
ISBN
10.2991/acta-14.2014.22
ISSN
2352-5398
DOI
10.2991/acta-14.2014.22How to use a DOI?
Copyright
© 2014, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Anh Ho Pham Huy
AU  - Huan Tran Thien
AU  - Nam Nguyen Thanh
PY  - 2014/06
DA  - 2014/06
TI  - Novel Robust Walking for Biped Robot Using Adaptive Neural PID Controller
BT  - 2014 International Conference on Automatic Control Theory and Application
PB  - Atlantis Press
SP  - 86
EP  - 89
SN  - 2352-5398
UR  - https://doi.org/10.2991/acta-14.2014.22
DO  - 10.2991/acta-14.2014.22
ID  - HoPhamHuy2014/06
ER  -