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

Journal: Computational intelligence and neuroscience
Published Date: Feb 8, 2017

Abstract

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.

Authors

  • Ji-Hwan Hwang
    Republic of Korea Naval Logistics Command, P.O. Box 602, Hyeon-dong, Jinhae-gu, Changwon-si, Gyeongsangnam-do 645-798, Republic of Korea.
  • Young-Chang Kang
    Department of Computer Engineering, Gachon University, 1342 Seongnamdaero, Sujeong-gu, Seongnam-si, Gyeonggi-do 461-701, Republic of Korea.
  • Jong-Wook Park
    Department of Electronic Engineering, Incheon National University, Incheon 402-752, Republic of Korea.
  • Dong W Kim
    Department of Digital Electronics, Inha Technical College, 100 Inha-ro, Nam-gu, Incheon 402-752, Republic of Korea.

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