The ramp metering rate is determined by the PID controller whose parameters are tuned by fuzzy logic according to the density tracking error and error variation.
斜坡根据密度跟踪误差和误差变化情况，通过模糊逻辑对控制器参数进行调整，确定了测量速度。
In the adaptive algorithm, the parameter adjusting laws of the fuzzy logic systems are derived by the tracking error and the identification error.
自适应算法中，不但跟踪误差而且辨识误差都参与模糊逻辑系统中的参数调节。
The error is adjusted with fuzzy logic, that is, the robot moves based on the forecasted condition of the ball.
对预测进行模糊调整，即根据球的状态生成机器人的动作。
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