Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model

Table 1

Fuzzy control rules.

Δe/e	NB	NM	NS	ZO	PS	PM	PB
NB	VS	VS	MS	S	B	MB	MB
NM	VS	MS	S	B	MB	VB	B
NS	MS	S	B	MB	MB	VB	S
ZO	S	S	VB	VB	VB	S	MS
PS	S	B	MB	VB	B	S	MS
PM	S	MB	MB	MB	S	MS	VS
PB	MB	MB	VB	S	S	VS	VS