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

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...

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Autores principales: Hwang, Ji-Hwan, Kang, Young-Chang, Park, Jong-Wook, Kim, Dong W.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi Publishing Corporation 2017
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5320390/
https://www.ncbi.nlm.nih.gov/pubmed/28280505
http://dx.doi.org/10.1155/2017/9640849
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author Hwang, Ji-Hwan
Kang, Young-Chang
Park, Jong-Wook
Kim, Dong W.
author_facet Hwang, Ji-Hwan
Kang, Young-Chang
Park, Jong-Wook
Kim, Dong W.
author_sort Hwang, Ji-Hwan
collection PubMed
description 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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spelling pubmed-53203902017-03-09 Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator Hwang, Ji-Hwan Kang, Young-Chang Park, Jong-Wook Kim, Dong W. Comput Intell Neurosci Research Article 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. Hindawi Publishing Corporation 2017 2017-02-08 /pmc/articles/PMC5320390/ /pubmed/28280505 http://dx.doi.org/10.1155/2017/9640849 Text en Copyright © 2017 Ji-Hwan Hwang et al. https://creativecommons.org/licenses/by/4.0/ This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
spellingShingle Research Article
Hwang, Ji-Hwan
Kang, Young-Chang
Park, Jong-Wook
Kim, Dong W.
Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator
title Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator
title_full Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator
title_fullStr Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator
title_full_unstemmed Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator
title_short Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator
title_sort advanced interval type-2 fuzzy sliding mode control for robot manipulator
topic Research Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5320390/
https://www.ncbi.nlm.nih.gov/pubmed/28280505
http://dx.doi.org/10.1155/2017/9640849
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