JOURNAL ARTICLE

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

Ji-Hwan Hwang, Young-Chang Kang, Jong-Wook Park, Dong W Kim
Computational Intelligence and Neuroscience 2017, 2017: 9640849
28280505
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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