论文部分内容阅读
针对四足步行机器人模糊控制器规则庞大,逻辑复杂的问题,提出了一种分层模糊控制器的设计方法。该方法不依赖被控对象的数学模型,将状态变量分层以降低多变量系统的设计复杂性,仿真和实验结果显示了该方法的有效性。
Aimed at the huge rules and complex logic problems of four-legged walking robot fuzzy controllers, a hierarchical fuzzy controller design method is proposed. The method does not depend on the mathematical model of the controlled object and stratifies the state variables to reduce the design complexity of the multivariable system. The simulation and experimental results show the effectiveness of the proposed method.