Adaptive Fuzzy Robust Control of a Bionic Mechanical Leg With a High Gain Observer

Adaptive Fuzzy Robust Control of a Bionic Mechanical Leg With a High Gain Observer

In this paper, an observer-based adaptive fuzzy robust controller is proposed for trajectory tracking control of a bionic mechanical leg (BML) with unmeasured system states, dynamic uncertainties and external disturbances. A high gain observer (HGO) is constructed to estimate the unavailable joint v...

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Bibliographic Details
Main Authors: Lihui Liao, Baoren Li, Yuanyuan Wang, Yi Xi, Dijia Zhang, Longlong Gao
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Bionic mechanical leg (BML)
unmeasured system states
dynamic uncertainty
external disturbance
high gain observer (HGO)
fuzzy logic system (FLS)
Online Access:https://ieeexplore.ieee.org/document/9461740/

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