摘要
应用文［１］，［２］中提出的外模控制方法组成直接驱动机器人关节外模模糊控制系统，所用模糊控制器为二级规则的三输入－输出模糊控制器，进行了动、静态特性的仿真研究．结果表明系统的性能得到很大的改善．
The control system with external-model developed in article [1], [2], is exploited to construct a fuzzy control system with external-model for jonit of direct driving robot. The Fuzzy controllerhave two levels with three inputs and one output. The simulation of the dynamics and statics is investigated. It is true,the performance of the system is considerably improved.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
1996年第5期687-690,共4页
Control Theory & Applications
基金
国家自然科学基金
