Fuzzy self-adaptive control method and system for single-connecting-rod mechanical arm and storage medium

The invention discloses a fuzzy self-adaptive control method and system for a single-connecting-rod mechanical arm and a storage medium. The fuzzy self-adaptive control method comprises the steps: establishing a nonlinear model and a hysteresis model of the single-connecting-rod mechanical arm, wherein the input of the nonlinear model is a hysteresis linear function; determining a virtual controller model and a virtual adaptive law according to an error model and the nonlinear model; determining a fuzzy self-adaptive trigger controller model and a trigger self-adaptive law according to the nonlinear model and the event trigger model, wherein the event triggering model is updated according to a dynamic threshold value; and according to the virtual controller model, the virtual self-adaptive law, the fuzzy self-adaption trigger controller model and the trigger self-adaptive law, an actuator of the single-connecting-rod mechanical arm is controlled. According to the embodiment of the invention, dynamic compensat