A FUZZY LEARNING CONTROL SCHEME AND ITS APPLICATION ON THE POSITION SERVO SYSTEM FOR A MULTIFINGERED HAND

In this paper a fuzzy learning control scheme for a repeated grasping and manipulating multifin-gered hand is presented,which can gradually modify imperfect control rules and make the actual output of the system converge to the given trajectory using the past control errors.The convergent conditions are also given.The proposed scheme is applied to the position servo system for the multifingered hand to improve control performance.The desired control results are obtained.