为了适应空调管道的复杂环境，提高空调管道清扫机器人控制性能，降低控制复杂度，构建了一个分层的自适应模糊控制器。
To adapt to complex environment, improve control performance and simplify the control complexity, a hierarchical adaptive fuzzy logic control of the pipe robot is presented.
为了适应空调管道的复杂环境，提高空调管道清扫机器人控制性能，降低控制复杂度，构建了一个分层的自适应模糊控制器。
To adapt to complex environment, improve control performance and simplify the control complexity, a hierarchical adaptive fuzzy logic control of the pipe robot is presented.
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