Patent ID: 11926056
Assignee: UBTECH ROBOTICS CORP LTD
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 7:
8. The method of claim 1, wherein the recurrent excitation function is set based on equations of:, f
    ⁡
    (
    
     t
     ,
     φ
    
    )
   
   =
   
    
     sign
     ⁡
     (
     s
     )
    
    ⁢
    
     h
     ⁡
     (
     
      
       ❘
       "\[LeftBracketingBar]"
      
      s
     
     )
    
   
  
  ;
 

 
  
   
    h
    ⁡
    (
    x
    )
   
   =
   
    
     tanh
     ⁢
       
     cx
    
    
     tanh
     ⁢
       
     c
    
   
  
  ;
  and
 

 
  
   s
   =
   
    
     2
     ⋆
     
      mod
      ⁡
      (
      
       
        
         
          (
          
           t
           +
           φ
          
          )
         
         /
         T
        
        +
        
         1
         /
         2
        
       
       ,
       1
      
      )
     
    
    -
    1
   
  
  ;
 

where, mod is a MOD function, T is a preset period, sign is a sign function, c is a preset constant, tanh is a hyperbolic tangent function, t is a time variable, φ is a preset phase, f is the recurrent excitation function, and |s| represents an absolute value of s.