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

Ji-Hwan Hwang1, Young-Chang Kang2, Jong-Wook Park3

  • 1Republic of Korea Naval Logistics Command, P.O. Box 602, Hyeon-dong, Jinhae-gu, Changwon-si, Gyeongsangnam-do 645-798, Republic of Korea.

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This study introduces advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulators. The novel AIT2FSMC effectively controls unknown systems, demonstrating robust performance in simulations.

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Artificial Intelligence

Background:

  • Robot manipulators often exhibit complex nonlinear dynamics.
  • Traditional control methods struggle with uncertainties and nonlinearities.
  • Interval type-2 fuzzy logic and sliding mode control offer potential solutions.

Purpose of the Study:

  • To propose an advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulators.
  • To design an interval type-2 fuzzy system to approximate a feedback linearization control law.
  • To develop a sliding mode controller for compensating approximation errors.

Main Methods:

  • Combining interval type-2 fuzzy systems with sliding mode control.
  • Designing tuning algorithms based on the Lyapunov stability theorem.
  • Utilizing a two-link rigid robot manipulator model for testing.

Main Results:

  • The proposed AIT2FSMC effectively controls a nonlinear two-link robot manipulator.
  • Simulation results validate the controller's ability to manage unknown system dynamics.
  • The method demonstrates robustness in handling system uncertainties.

Conclusions:

  • The AIT2FSMC is a highly effective control strategy for robot manipulators.
  • The controller successfully compensates for approximation errors and system nonlinearities.
  • This approach offers a promising solution for controlling complex robotic systems.