Fuzzy-quasi-terminal Sliding Mode Control for Micro-hand using Robust Right Coprime Factorization

As a gas-driven soft robot, the Micro-hand plays a crucial role in addressing numerous complex and variable specific environments and tasks. However, the strong robustness and high-precision tracking requirements of the Micro-hand system make it difficult to meet grasping demands under perturbed conditions. This paper employs Robust Right Coprime Factorization (RRCF) to ensure system robustness and stability, while introducing Fuzzy-quasi-terminal Sliding Mode Control (FSMC) for trajectory tracking. Finally, simulations are conducted to validate the correctness and effectiveness of the theoretical results.