Table 2 Fuzzy control rules of ∆Kp
From: Fuzzy Torque Control of the Bionic Flexible Manipulator Actuated by Pneumatic Muscle Actuators
E | EC | ||||||
|---|---|---|---|---|---|---|---|
NB | NM | NS | ZO | PS | PM | PB | |
NB | PB | PB | PM | PM | PS | ZO | ZO |
NM | PB | PB | PM | PS | PS | ZO | NS |
NS | PM | PM | PM | PS | ZO | NS | NS |
ZO | PM | PM | PS | ZO | NS | NM | NM |
PS | PS | PS | ZO | NS | NS | NM | NM |
PM | PS | ZO | NS | NM | NM | NM | NB |
PB | ZO | ZO | NM | NM | NM | NB | NB |