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提出一种体操机器人模糊控制策略 ,它结合了无需模型和基于模型的模糊控制 .无需模型的模糊控制器是为摇起体操机器人设计的 ,它确保体操机器人的能量随着每次摆动而增加 .基于模型的模糊控制器是为平衡体操机器人设计的 ,它基于一个Takagi Sugeno模糊模型 .
A fuzzy control strategy of gym robots is proposed, which combines the model-less and model-based fuzzy control.The model-free fuzzy controller is designed to shake up the gymnastics robot, which ensures that the energy of gym robots increases with each swing. The model-based fuzzy controller is designed for balancing gymnastic robots and is based on a Takagi Sugeno fuzzy model.