王昌银, 王应建, 林建亚, 路甬祥. 机器人电液位置伺服系统的智能模糊控制[J]. 机器人, 1991, 13(4): 17-21..
WANG Changyin, WANG Yinjian, LIN Jianya, LU Yongxiang. INTELLIGENT FUZZY CONTROL OF ELECTRO-HYDRAULIC POSITION SERVO SYSTEM FOR ROBOT. ROBOT, 1991, 13(4): 17-21..
Abstract：In the light of some features of robot joint position servo system driven electro-hydraulically, a simpleintelligent fuzzy controller is designed by using principles of fuzzy set and artificial intelligence, Experimental results of computer simulation and real-time,control show that it can effectively overcome some origi-nal unfavorable effects such as inconstant inertia, nonlinearity, and so on. Additionally it has relativelyhigh robustness to system parameters variations and can significantly improve positioning accuracy anddynamic performance of robot system.
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