Combine blur control with general PID control, on line self-adjusting PID parameters according to different error and error variety-rate, which is called PID parameters self-tuning blur controller.

将模糊控制与常规pid控制相结合，根据不同的误差、误差变化率对PID的参数进行在线自动调整，这就是PID参数自整定模糊控制器。

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A self adjusting fuzzy controller with on line adjustment of proportional factor and quantifying factor was proposed.

在常规的模糊控制器上提出一种在线修正因子和量化因子的自调整模糊控制器。

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This guidance law, without the need of the target velocity, can make the underwater vehicle meet the target in the intercept point by self-organizing adjusting its lead Angle on line.

该导引律在不需要解算目标速度的前提下，通过在线自组织调整航行器的提前角，从而使水下航行器的前置点与目标交会。

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