为比较各种控制方案的优缺点，对柔性双臂动力学的PD控制、模糊PD哈尔滨工程大学硕士学位论文石石舀石石奋日。
To compare the advantages and the disadvantages of the above schemes , the flexible-manipulator simulations on PD control , fuzzy PD control and neural-network control are carried out .
石奋