体操机器人的模糊控制策略

摘要

This paper describes a fuzzy control strategy combining model-free and model-based fuzzy control to control an acrobot. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. The model-based fuzzy controller based on a Takagi-Sugeno fuzzy model is designed for balance control.%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.