Focus on the question of many sub models in traditional SMM, a SMM adaptive control based on online optimization method of model set is proposed.

Proposed an adaptive network fuzzy inference system control strategy based on hierarchy structure of gait planning, which do not require detailed kinematics or dynamic biped models.

From practical application, adaptive fuzzy identification and control models of proton exchange membrane fuel cell (PEMFC) were developed based on input-output sampled data and experts' experience.