Finger Tracking Control of Underwater Dexterous Hand Based on Fuzzy CMAC

摘要

Design of tracking controller is difficult due to the particularity of the work environment for the underwater dexterous hand, high nonlinearity and strong coupling of the dynamic model. A fuzzy CMAC was adopted to establish the tracking control system for improving the fine performance capacity. The neural network structure of the fuzzy CMAC was designed, and the input and output formula of each layer was deduce. Based on BP arithmetic, the associative strength, core and width of Gaussian membership function were obtained through training. In final, the simulation of the finger tracking control system was carried out, the results indicate that the finger can follow the scheduled track, the stability is good, the position precision is high, and the control system can be used in the un derwater dexterous hand.