Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator
- Authors
- Hwang, Ji-Hwan; Kang, Young-Chang; Park, Jong-Wook; Kim, Dong W.
- Issue Date
- 2017
- Publisher
- HINDAWI LTD
- Citation
- COMPUTATIONAL INTELLIGENCE AND NEUROSCIENCE
- Journal Title
- COMPUTATIONAL INTELLIGENCE AND NEUROSCIENCE
- URI
- https://scholarworks.bwise.kr/gachon/handle/2020.sw.gachon/7435
- DOI
- 10.1155/2017/9640849
- ISSN
- 1687-5265
- 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.
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