赵建东, 徐凯, 付成龙, 杨向东, 陈恳. 仿人机器人踝侧摆的自调节模糊非线性控制研究[J]. 机器人, 2004, 26(2): 127-132..
ZHAO Jiandong, XU Kai, FU Chenglong, YANG Xiangdong, CHEN Ken. The Self-regulating Fuzzy Nonlinear Control of Roll DOF of Ankle Joint of Humanoid Robot. ROBOT, 2004, 26(2): 127-132..
Abstract：This paper presents a 2-dimension fuzzy controller with the inputs of joints position-tracking errors and joints transmission radio mutations,and the output of control voltages of DC brushless motors. Compared with the former PID-feedforward controller,this fuzzy controller effectively improves the servo performance,which is ever greatly influenced by the nonlinear transmission,especially almost eliminating the lags in joints position-tracking. Both in air and on ground,the robustness of the prototype system is enhanced.
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