摘要
本文设计了一种新的模型参考自适应模糊控制器。实验表明,该控制器作用于步行机容人速度伺服系统时,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 model reference adaptive fuzzy control scheme and its application in velocity servo control for quadruped robot. This scheme solves the problems of large-range velocity setting and the time-variant gain of controlled objects. Experiment result shows that this scheme improves the dynamic responsibility and the robustness of the control system.
出处
《电气自动化》
北大核心
1999年第1期4-6,共3页
Electrical Automation
基金
国家863计划及上海交通大学董氏东方奖学金的资助
