According to the problem of position of DC torque motor, an new fuzzy control way was put forward.

针对小功率直流力矩电动机的定位控制问题，提出了一种新的模糊控制策略。

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According to all of these characteristics of the system, a three-loop fuzzy sliding control mode is adopted, the speed and position loop are outer loop, and the current loop is inner loop.

根据系统这一特点，采用三闭环模糊滑模控制策略，外环为速度和位置闭环，内环为电流闭环的方法设计控制器，并进行了仿真实验研究。

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Due to the nonlinearity of the robot system, position controller USES the parameter self-adjusting fuzzy control strategy, which assures good pose regulating power.

针对清刷机器人水下作业的非线性特点，采用参数自调整模糊控制策略设计了位置模糊控制器，保证了机器人具有良好的姿态调节能力。

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