CN106936408B - Filtering method, device and electronic equipment - Google Patents
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- CN106936408B CN106936408B CN201710168838.5A CN201710168838A CN106936408B CN 106936408 B CN106936408 B CN 106936408B CN 201710168838 A CN201710168838 A CN 201710168838A CN 106936408 B CN106936408 B CN 106936408B
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
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- H03H21/0012—Digital adaptive filters
- H03H21/0016—Non linear filters
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Abstract
The present invention provides a kind of filtering method, device and electronic equipments, are related to technical field of filtering.Filtering method includes：Establish global two type T S fuzzy time-delay systems models of section；It establishes global two pattern of section and pastes filter model；Filtering error model is established according to two type T S fuzzy time-delay systems models of section and two pattern of section paste filter model, and is filtered according to filtering error model.Filtering method, device and electronic equipment provided by the invention can preferably handle the nonlinear system with parameter uncertainty, complete the design of filter parameter, and filtering is made more to stablize.
Description
Technical field
The present invention relates to technical field of filtering, in particular to a kind of filtering method, device and electronic equipment.
Background technology
In recent years, T-S fuzzy models, which receive, widely pays close attention to, and T-S fuzzy models are by nonlinear smearing weight by one
World model made of array of linear submodel is smoothly connected, it is non-that it with arbitrary accuracy can approach arbitrary smooth in convex compact
Linear function, T-S fuzzy models are all sent out in the stability analysis of fuzzy system, controller synthesis and filter design etc.
It waves huge effect and achieves plentiful and substantial theoretical result.
It is worth noting that, the above results, based on a pattern fuzzy logic, these traditional type T-S fuzzy controls are logical
Often to assume that fuzzy weighted values do not include unascertained information.However in practical applications, not only there is non-linear but also often companion
With uncertainty, once the system considered is the nonlinear system with Parameter uncertainties, the T-S based on a pattern fuzzy logic
Fuzzy control method cannot be directly applied.
Therefore, the nonlinear system with parameter uncertainty how has preferably been handled, setting for filter parameter is completed
Meter makes error filtering system stablize, and is a urgent problem to be solved in the prior art.
Invention content
In view of this, the embodiment of the present invention is designed to provide a kind of filtering method, device and electronic equipment to improve
The above problem.
In a first aspect, an embodiment of the present invention provides a kind of filtering method, the filtering method includes：
Establish global two type T-S fuzzy time-delay systems models of section；
It establishes global two pattern of section and pastes filter model；
It is established according to two type T-S fuzzy time-delay systems model of the section and two pattern of section paste filter model
Filtering error model, and be filtered according to the filtering error model.
Second aspect, an embodiment of the present invention provides a kind of filter, the filter includes：
First establishes module, for establishing global two type T-S fuzzy time-delay systems models of section；
Second establishes module, and two pattern of section for establishing global pastes filter model；
Third establishes module, is pasted according to two type T-S fuzzy time-delay systems model of the section and two pattern of the section
Filter model establishes filtering error model；
Filter module, for being filtered according to the filtering error model.
The third aspect, an embodiment of the present invention provides a kind of electronic equipment, the electronic equipment includes：
Memory；
Processor；And
Filter, the filter are installed in the memory and include that one or more is held by the processor
Capable software function module, the filter include：
First establishes module, for establishing global two type T-S fuzzy time-delay systems models of section；
Second establishes module, and two pattern of section for establishing global pastes filter model；
Third establishes module, is pasted according to two type T-S fuzzy time-delay systems model of the section and two pattern of the section
Filter model establishes filtering error model；
Filter module, for being filtered according to the filtering error model.
For the prior art, filtering method, device and electronic equipment provided by the invention have following advantageous effect：
Filtering method, device and electronic equipment provided by the invention can preferably be handled with the non-thread of parameter uncertainty
Sexual system completes the design of filter parameter, and filtering is made more to stablize.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structure diagram for the electronic equipment that present pre-ferred embodiments provide.
Fig. 2 is the flow chart for the filtering method that present pre-ferred embodiments provide.
Fig. 3 is the Force principle figure for the spring-damp system that present pre-ferred embodiments provide.
Fig. 4 is that primary condition is x in Fig. 31=1,When replying state curve graph.
Fig. 5 is that primary condition is x in Fig. 32=-2,When replying state curve graph.
Fig. 6 is error return curve figures of the Fig. 3 under zero initial condition.
Fig. 7 is the structure diagram for the filter that present pre-ferred embodiments provide.
Icon：10- electronic equipments；101- memories；102- storage controls；103- processors；104- Peripheral Interfaces；
105- display units；106- audio units；107- input-output units；200- filters；210- first establishes module；220-
Second establishes module；230- thirds establish module；240- filter modules.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Referring to Fig. 1, being the structure diagram for the electronic equipment 10 that present pre-ferred embodiments provide, the embodiment of the present invention carries
The filter 200 of confession can be applied in the electronic equipment 10.The electronic equipment 10 may be, but not limited to, intelligent hand
Machine, PC (personal computer, PC), tablet computer, personal digital assistant (personal digital
Assistant, PDA), mobile internet surfing equipment (mobile Internet device, MID) etc..The behaviour of the electronic equipment 10
May be, but not limited to, as system, Android (Android) system, IOS (iPhone operating system) system,
Windows phone systems, Windows systems etc..
In the embodiment of the present invention, the electronic equipment 10 further includes memory 101, storage control 102, processor
103, Peripheral Interface 104, display unit 105, audio unit 106 and input-output unit 107.
The memory 101, storage control 102, processor 103, Peripheral Interface 104, display unit 105, audio list
Member 106 and input-output unit 107, each element are directly or indirectly electrically connected between each other, to realize the transmission of data
Or interaction.It is electrically connected for example, these elements can be realized between each other by one or more communication bus or signal wire.It is described
Filter 200 include it is at least one can be stored in the memory 101 in the form of software or firmware (firmware) or
The software function module being solidificated in the operating system (operating system, OS) of the electronic equipment 10.The processing
Device 103 is for executing the executable module stored in memory 101, for example, the software function mould that the filter 200 includes
Block or computer program.
Processor 103 may be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 103 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), application-specific integrated circuit (ASIC),
Ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hard
Part component.It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor
Can be microprocessor or the processor 103 can also be any conventional processor etc..
The Peripheral Interface 104 couples various input/output devices to processor 103 and memory 101.At some
In embodiment, Peripheral Interface 104, processor 103 and storage control 102 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
Display unit 105 provides an interactive interface (such as user's operation between the electronic equipment 1010 and user
Interface) or for display image data give user reference.In the present embodiment, the display unit 105 can be liquid crystal display
Device or touch control display.Can be the capacitance type touch control screen or electricity for supporting single-point and multi-point touch operation if touch control display
Resistive touch screen etc..Single-point and multi-point touch operation is supported to refer to touch control display and can sense one on the touch control display
The touch control operation generated simultaneously at a or multiple positions, and transfer to processor to be calculated and located the touch control operation that this is sensed
Reason.
Audio unit 106 provides a user audio interface, may include that one or more microphones, one or more raises
Sound device and voicefrequency circuit.
The interaction that input-output unit 107 is used to that user input data to be supplied to realize user and the electronic equipment 10.
The input-output unit 107 may be, but not limited to, mouse and keyboard etc..
Referring to Fig. 2, being the flow for the filtering method applied to filter 200 that present pre-ferred embodiments provide
Figure, below will be described in detail the detailed process described in Fig. 2.
Step S101 establishes global two type T-S fuzzy time-delay systems models of section.
In the present embodiment, global two type T-S fuzzy time-delay systems models f of sectionαFor：
Wherein, i=1,2 ... p, α=1,2 ... r, x (t) ∈ RnIt is state vector, z (t) ∈ RvIt is control output, y (t)
∈RmIt is to measure output, w ∈ RqIt is disturbance input, Ai,Adi,D1i,Ci,Cdi,D2i,Ei,EdiAnd D3iIt is known sytem matrix, d
(t) it is Time-varying time-delays, d (t) satisfactions：
H and μ is two scalars, ai(x (t)) ∈ [0,1] andIt is two nonlinear functions and meets
Specifically, when establishing global two type T-S fuzzy time-delay systems models of section, following rule is considered first,
If f1(x (t)) isAnd fr(x (t)) isThen：
WhereinIt is about function fαThe section type-2 fuzzy sets of (x (t)) close, i=1,2 ... p, α=1,2 ... r, x
(t)∈RnIt is state vector, z (t) ∈ RvIt is control output, y (t) ∈ RmIt is to measure output, w ∈ RqIt is disturbance input, Ai,Adi,
D1i,Ci,Cdi,D2i,Ei,EdiAnd D3iIt is known sytem matrix.D (t) is Time-varying time-delays, and d (t) meets：
Wherein h and μ is two scalars.
The intensity of activation of i-th rule is defined as Interval Set：
Wherein
WithUpper and lower degree of membership is indicated respectively.
Then, global two type T-S fuzzy time-delay systems models of section can be obtained：
Wherein, a i(x
(t)) ∈ [0,1] andIt is two nonlinear functions and meets
Step S102 establishes global section two patterns paste filter model.
In the present embodiment, global section two patterns paste filter model gβFor：
Wherein, j=1,2 ... p, β=1,2 ... r, Afj, BfjAnd CfjIt is filtering parameter, β j(x(t))∈[0,1]
WithIt is two nonlinear functions and meets
Specifically, the unmatched two type fuzzy filter of section of premise membership function is defined, filter system rule：If
g1(x (t)) isAnd gl(x (t)) isThen：
WhereinIt is about function gβThe section type-2 fuzzy sets of (x (t)) close, j=1,2 ... p, β=1,2 ... r, Afj,
BfjAnd CfjIt is filter parameter.The intensity of activation of j-th strip rule is defined as Interval Set：
Wherein
WithUpper and lower degree of membership is indicated respectively.
Then, global section two patterns paste filter model can be obtained：
Wherein
β j(x (t)) ∈ [0,1] andIt is two nonlinear functions and meets
Step S103 establishes filtering error model, and is filtered according to the filtering error model.
In the present embodiment, filtering error model is：
Wherein,
Specifically, after obtaining formula (3) and (5), can the filtering error model be obtained by formula (3) and (5) operation.
After obtaining the filtering error model, it is filtered according to the filtering error model.
For example, as shown in figure 3, be the Force principle figure of spring-damp system, can be obtained by Newton's laws of motion：
Wherein m is mass of object, FfAnd FsThe respectively elastic force of object friction and spring, u (t) are horizontal direction
With joint efforts, x represents displacement.Due toWhereinIt is constant with a.Then above formula can indicate
For：
DefinitionEnable x1(t) [- 2,2] ∈, m=1kg, c=
2Nm/s, a=0.3m-1.Assuming thatThen whenWhen,Be maximized for
WhenWhen,Be minimized forDue toFor uncertain parameter, existing pattern paste
Filtering method cannot be applied.In the embodiment of the present invention, original nonlinear system can approximation be converted into the complete of formula (3)
The two type T-S fuzzy time-delay systems models of section of office.
Wherein relevant parameter is：
C1=[0.1 0.1], C2=[0.1 0.1], Cd1=[- 0.8 0.6], Cd2=[-
0.2 1], D21=-0.7, D22=0.2, E1=[1 0], E2=[1 0], Ed1=[0.1 0], Ed2=[0 0.2], D31=0, D32
=0.
Due to uncertain parameterThe difference of value, two pattern of global section paste the upper and lower membership function of filter model such as
Under：
Next, providing L2-L∞The parameter designing of filter under performance indicator.Enable Φ=I, Ψ1=Ψ2=0, Ψ3=
γ2I.Minimum L is obtained when taking α=1, β=10, h=0.5, μ=0.22-L∞Performance indicator γ=1.0302, and acquire filtering
Device gain matrix is：
Cf1=[- 0.0009 0.0270],
Cf2=[- 0.0009 0.0271].
In primary condition x1=1, x2=-2,Replying state curve such as Fig. 4, Fig. 5.
If disturbance isUnder zero initial condition, the error return curve of system is Fig. 6.
Figures 4-6 it can be seen that spring-damp system of the filtering method provided in an embodiment of the present invention to Parameter uncertainties
It is effective.
To sum up, filtering method provided in an embodiment of the present invention is preferably handled using two type T-S fuzzy models of section
Nonlinear system with parameter uncertainty completes the design of filter parameter, and filtering is made more to stablize.
Referring to Fig. 7, being the structure diagram for the filter 200 that present pre-ferred embodiments provide, the filter
200 include first establish module 210, second establish module 220, third establishes module 230 and filter module 240.
First establishes module 210 for establishing global two type T-S fuzzy time-delay systems models of section.
Specifically, filter 200 establishes module 210 for establishing global two type T-S moulds of section by described first
Paste time lag system model fα
Wherein, i=1,2 ... p, α=1,2 ... r, x (t) ∈ RnIt is state vector, z (t) ∈ RvIt is control output, y (t)
∈RmIt is to measure output, w ∈ RqIt is disturbance input, Ai,Adi,D1i,Ci,Cdi,D2i,Ei,EdiAnd D3iIt is known sytem matrix, d
(t) it is Time-varying time-delays, d (t) satisfactions：
H and μ is two scalars, a i(x (t)) ∈ [0,1] andIt is two nonlinear functions and meets
It should be understood that described first establishes module 210 and can be used for executing above-mentioned step S101.
Second establishes module 220 pastes filter model for establishing global two pattern of section.
Specifically, filter 200 establishes module 220 for establishing global section two patterns paste filter by described second
Wave device model gβ
Wherein, j=1,2 ... p, β=1,2 ... r, Afj, BfjAnd CfjIt is filtering parameter, β j(x(t))∈[0,1]
WithIt is two nonlinear functions and meets
It should be understood that described second establishes module 220 and can be used for executing above-mentioned step S102.
Third establishes module 230 for according to two type T-S fuzzy time-delay systems model of the section and the section two
Pattern paste filter model establishes filtering error model.
Specifically, filter 200 establishes module 230 for the two type T- of section according to the overall situation by the third
S fuzzy time-delay systems models fαAnd the section two patterns paste filter model g of the overall situationβEstablish filtering error model
Wherein,
It can be used for executing in above-mentioned step S103 according to the area it should be understood that the third establishes module 230
Between two type T-S fuzzy time-delay systems models and two pattern of section paste filter model establish filtering error model this mistake
Journey.
Filter module 240 according to filtering error model for being filtered.
After establishing filtering error model, the filter module 240 of filter 200 is filtered according to the filtering error model
Wave.
It should be understood that the filter module 240 can be used for executing in above-mentioned step S103 according to filtering error mould
Type is filtered this process.
To sum up, filter 200 provided in an embodiment of the present invention is preferably handled using two type T-S fuzzy models of section
Nonlinear system with parameter uncertainty, completes the design of filter parameter, and filtering is made more to stablize.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part for the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can execute in the opposite order, this is depended on the functions involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use function or the dedicated base of action as defined in executing
It realizes, or can be realized using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. a kind of filtering method, which is characterized in that the method includes：
Establish global two type T-S fuzzy time-delay systems models of section；
It establishes global two pattern of section and pastes filter model；
Filtering is established according to two type T-S fuzzy time-delay systems model of the section and two pattern of section paste filter model
Error model, and be filtered according to the filtering error model；Wherein, when the two type T-S of section for establishing the overall situation is fuzzy
Stagnant system model includes：
Establish global two type T-S fuzzy time-delay systems models f of sectionα
Wherein, i=1,2 ... p, α=1,2 ... r, x (t) ∈ RnIt is state vector, z (t) ∈ RvIt is control output, y (t) ∈ Rm
It is to measure output, w ∈ RqIt is disturbance input, Ai,Adi,D1i,Ci,Cdi,D2i,Ei,EdiAnd D3iIt is known sytem matrix, d (t)
It is Time-varying time-delays, d (t) meets：
0≤d (t)≤h,
H and μ is two scalars, a i(x (t)) ∈ [0,1] andIt is two nonlinear functions and meets
2. filtering method according to claim 1, which is characterized in that described to establish global two type fuzzy filter of section
Model includes：
Establish global section two patterns paste filter model gβ
Wherein, j=1,2 ... p, β=1,2 ... r, Afj, BfjAnd CfjIt is filtering parameter, β j(x(t))∈[0,1]
WithIt is two nonlinear functions and meets
3. filtering method according to claim 2, which is characterized in that described to obscure time lag according to two type T-S of the section
System model and two pattern of section paste filter model establish filtering error model and include：
Two type T-S fuzzy time-delay systems models f of section according to the overall situationαAnd the two type fuzzy filter of section of the overall situation
Device model gβEstablish filtering error model
Wherein,
4. a kind of filter, which is characterized in that the filter includes：
First establishes module, for establishing global two type T-S fuzzy time-delay systems models of section；
Second establishes module, and two pattern of section for establishing global pastes filter model；
Third establishes module, for being pasted according to two type T-S fuzzy time-delay systems model of the section and two pattern of the section
Filter model establishes filtering error model；
Filter module, for being filtered according to the filtering error model；Wherein, described first module is established for establishing entirely
The two type T-S fuzzy time-delay systems models f of section of officeα
Wherein, i=1,2 ... p, α=1,2 ... r, x (t) ∈ RnIt is state vector, z (t) ∈ RvIt is control output, y (t) ∈ Rm
It is to measure output, w ∈ RqIt is disturbance input, Ai,Adi,D1i,Ci,Cdi,D2i,Ei,EdiAnd D3iIt is known sytem matrix, d (t)
It is Time-varying time-delays, d (t) meets：
0≤d (t)≤h,
H and μ is two scalars,a i
(x (t)) ∈ [0,1] and it is two nonlinear functions and meets
5. filter according to claim 4, which is characterized in that described second establishes module for establishing global area
Between two patterns paste filter model gβ
Wherein, j=1,2 ... p, β=1,2 ... r, Afj, BfjAnd CfjIt is filtering parameter, β j(x(t))∈[0,1]
WithIt is two nonlinear functions and meets
6. filter according to claim 5, which is characterized in that the third establishes module for according to the overall situation
Two type T-S fuzzy time-delay systems models f of sectionαAnd the section two patterns paste filter model g of the overall situationβEstablish filtering
Error model
Wherein,
7. a kind of electronic equipment, which is characterized in that the electronic equipment includes：
Memory；
Processor；And
Filter, the filter are installed in the memory and include that one or more is executed by the processor
Software function module, the filter include：
First establishes module, for establishing global two type T-S fuzzy time-delay systems models of section；
Second establishes module, and two pattern of section for establishing global pastes filter model；
Third establishes module, according to two type T-S fuzzy time-delay systems model of the section and two type fuzzy filter of the section
Device model foundation filtering error model；
Filter module, for being filtered according to the filtering error model；
Wherein, described first module is established for establishing global two type T-S fuzzy time-delay systems models f of sectionα
Wherein, i=1,2 ... p, α=1,2 ... r, x (t) ∈ RnIt is state vector, z (t) ∈ RvIt is control output, y (t) ∈ Rm
It is to measure output, w ∈ RqIt is disturbance input, Ai,Adi,D1i,Ci,Cdi,D2i,Ei,EdiAnd D3iIt is known sytem matrix, d (t)
It is Time-varying time-delays, d (t) meets：
0≤d (t)≤h,
H and μ is two scalars, a i(x (t)) ∈ [0,1] andIt is two nonlinear functions and meets
8. electronic equipment according to claim 7, which is characterized in that the electronic equipment is PC.
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| CN108803378B (en) * | 2018-08-08 | 2019-07-26 | 四川大学 | Data processing method, device, flight simulator and storage medium |
| CN109558594B (en) * | 2018-12-03 | 2023-03-21 | 深圳大学 | Interactive T-S fuzzy semantic model estimation method, system and computer readable storage medium |
| CN110275439B (en) * | 2019-06-28 | 2020-05-26 | 四川大学 | Control method of self-balancing trolley and design method and device of controller |
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