General type-2 fuzzy sliding mode control for motion balance adjusting of power-line inspection robot

Abstract

In this paper, a novel general type-2 fuzzy sliding mode controller for motion balance adjusting of a power-line inspection robot is developed. The combination method between general type-2 fuzzy system and sliding mode control is different from the existing works. In this paper, sliding mode control is used to finish the motion balance adjusting work. The sliding mode surface is designed according to the Ackermann’s formula. And the general type-2 fuzzy system is used to strengthen the anti-interference ability of the power-line inspection robot. The general type-2 fuzzy sliding mode controller is developed by substituting an element of the sliding mode control law by the output of general type-2 fuzzy system. The novel combination method makes it possible to enhance the anti-interference ability of PLI robot while achieving motion balance control. According to the simulation results, the effectiveness of the proposed controller is proved. And it can also be known that the proposed method is not limited to the GT2FS, and its IT2FS and T1FS counterpart can also strengthen the anti-interference ability in different level.