Sliding mode control based on self-recurrent wavelet neural network for five-link biped robot

Sin Ho Lee, Jin Bae Park, Yoon Ho Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)


In this paper, we propose the intelligent control of biped robot system with unknown model uncertainty. In our proposed control system, we employ the sliding mode control (SMC) for stable walking control of biped robot and the error compensation controller for the approximation error of self-recurrent wavelet neural network (SRWNN) which is used to estimate unknown model uncertainty of the biped robot system and nonlinear system parameters. Also, the adaptive laws for all weights of SRWNN are induced from the Lyapunov stability theorem, which are used to guarantee the stability of control system. Finally, we carry out computer simulations based on the 5-link biped robot model for the effectiveness of the proposed control system.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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