摘要
本文提出一种新的模型参考自适应模糊控制器 ,并应用于步行机器人关节速度伺服控制 .实验结果表明 ,该控制方案较好地解决了转速给定变化范围大和被控对象增益时变问题 ,改善了控制系统的鲁棒性和动态响应特性 .
This paper presents a new adaptive fuzzy control scheme and its application to speed servo control for a quadruped robot.The scheme solves two problems successfully which are the large range of speed set points and the time variant gain of the controlled object.Experiment study shows that the new scheme improves dynamic characteristic and robustness of the control system efficiently.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
1999年第1期76-80,共5页
Control Theory & Applications
基金
国家 8 6 3计划资助项目
