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Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator
Joint Authors
Kim, Dong W.
Park, Jong-Wook
Kang, Young-Chang
Hwang, Ji-Hwan
Source
Computational Intelligence and Neuroscience
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-02-08
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract 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.
American Psychological Association (APA)
Hwang, Ji-Hwan& Kang, Young-Chang& Park, Jong-Wook& Kim, Dong W.. 2017. Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator. Computational Intelligence and Neuroscience،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1141310
Modern Language Association (MLA)
Hwang, Ji-Hwan…[et al.]. Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator. Computational Intelligence and Neuroscience No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1141310
American Medical Association (AMA)
Hwang, Ji-Hwan& Kang, Young-Chang& Park, Jong-Wook& Kim, Dong W.. Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator. Computational Intelligence and Neuroscience. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1141310
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1141310