Table 3 Fuzzy control rules of ∆Kd
From: Fuzzy Torque Control of the Bionic Flexible Manipulator Actuated by Pneumatic Muscle Actuators
E | EC | ||||||
|---|---|---|---|---|---|---|---|
NB | NM | NS | ZO | PS | PM | PB | |
NB | PS | NS | NB | NB | NB | NM | PS |
NM | PS | NS | NB | NM | NM | NS | ZO |
NS | ZO | NS | NM | NM | NS | NS | ZO |
ZO | ZO | NS | NS | NS | NS | NS | ZO |
PS | ZO | ZO | ZO | ZO | ZO | ZO | ZO |
PM | PB | NS | PS | PS | PS | PS | PB |
PB | PB | PM | PM | PM | PS | PS | PB |