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

الملخص EN

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.