• 1. PD adaptive controller: PD自适应控制

• 1.The simulation results prove that the neural network controller has self-learning and self-adaptive ability by comparison with PD controller. The position tracking control obtains satisfactory effect.
  结果表明，相对于常规PD控制器，该神经网络控制器具有自学习、自适应功能，位置跟踪获得了满意的控制效果。
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• 2.The controller consists of a linear PD feedback part, a nonlinear adaptive feedback part to compensate for the dynamics of robot and a robust control part to compensate for the uncertainties of model.
  该控制器由三部分组成：线性PD反馈项，补偿动力学的自适应控制项，补偿建模不确定性的鲁棒控制项。
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• 3.This paper presents an adaptive PD type fuzzy logic speed controller, which is applied to fuzzy direct torque control system.
  本文设计了一种自适应模糊pd型速度调节器，应用于模糊直接转矩控制系统。
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