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位置扰动型施力系统存在着多余力的问题，同时由于系统的非线性及参数时变等因素的影响，给系统的校正和优化带来了困难．为了消除位置扰动型施力系统中存在的多余力以及非线性、参数时变等因素的影响，采用在非线性前馈校正基础上的模糊自适应控制策略，可以较好地消除系统的多余力，同时克服系统的非线性及参数时变等因素的影响，改善系统的动态品质．仿真研究的结果验证了上述结论
Displacement-type force application system has the problem of excess force. At the same time, due to the nonlinearity of the system and the influence of time-varying parameters, it is difficult to correct and optimize the system. In order to eliminate the influence of extra force, nonlinearity and time-varying parameters in the perturbed force application system, the fuzzy adaptive control strategy based on nonlinear feedforward correction can eliminate the redundant system , At the same time to overcome the system nonlinear and time-varying parameters and other factors, to improve the dynamic quality of the system. The simulation results verify the above conclusion