Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator

In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL) control law, interval type-2 fuzzy system is...

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Veröffentlicht in:	Computational Intelligence and Neuroscience 2017-01, Vol.2017 (2017), p.1-11
Hauptverfasser:	Kim, Dong W., Park, Jong-Wook, Kang, Young-Chang, Hwang, Ji-Hwan
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Artificial Intelligence Computer Simulation Control systems Control theory Design Design and construction Fuzzy Logic Fuzzy sets Fuzzy systems Intervals Manipulators Mathematical models Methods Neural Networks (Computer) Robot arms Robot control Robotics - methods Robots Simulation Sliding mode control
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Zusammenfassung:	In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL) control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.
ISSN:	1687-5265 1687-5273
DOI:	10.1155/2017/9640849