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

被引：6
作者：
Hwang, Ji-Hwan [1 ]
Kang, Young-Chang [2 ]
Park, Jong-Wook [3 ]
Kim, Dong W. [4 ]
机构：
[1] Republ Korea Naval Logist Command, POB 602, Changwon Si 645798, Gyeongsangnam D, South Korea
[2] Gachon Univ, Dept Comp Engn, Seongnam Si 461701, Gyeonggi Do, South Korea
[3] Incheon Natl Univ, Dept Elect Engn, Incheon 402752, South Korea
[4] Inha Tech Coll, Dept Digital Elect, 100 Inha Ro, Incheon 402752, South Korea
来源：
COMPUTATIONAL INTELLIGENCE AND NEUROSCIENCE | 2017年 / 2017卷
关键词：
NONLINEAR-SYSTEMS;
D O I：
10.1155/2017/9640849
中图分类号：
Q [生物科学];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
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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页数：11
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