文章基本信息

标题：Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator
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作者：Ji-Hwan Hwang ; Young-Chang Kang ; Jong-Wook Park 等
期刊名称：Computational Intelligence and Neuroscience
印刷版ISSN：1687-5265
电子版ISSN：1687-5273
出版年度：2017
卷号：2017
DOI：10.1155/2017/9640849
出版社：Hindawi Publishing Corporation
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.