摘要
本文对模糊控制、自适应控制和ＰＩＤ控制进行了综合研究，实现了自行研制的ＮＡＩＷＲ－１智能两足步行机器人的模糊自适应ＰＩＤ控制，并用模糊递阶协调方法进行关节到位协调送数。
The theories of fuzzy control and adaptive PID control are dealt with in detail. The position and gesture membership functions are analysed systematically. By means of it, the fuzzy adaptive PID controller of the biped robot named NAIWR 1 has been described. The application of large scale system thoery to robot is explained. The related programmes are developed. The stable walk of the biped robot has been achieved.
出处
《南京航空航天大学学报》
CAS
CSCD
1996年第5期713-718,共6页
Journal of Nanjing University of Aeronautics & Astronautics
关键词
模糊控制论
自适应
PID控制
机器人
fuzzy control theory
adaptive control systems
PID control
large scale system
biped robot
