Abstract
A type-2 fuzzy logic controller (FLC) is proposed in this article for robot manipulators with joint elasticity and structured and unstructured dynamical uncertainties. The proposed controller is based on a sliding mode control strategy. To enhance its real-time performance, simplified interval fuzzy sets are used. The efficiency of the control scheme is further enhanced by using computationally inexpensive input signals independently of the noisy torque and acceleration signals, and by adopting a trade off strategy between the manipulator's position and the actuators' internal stability. The controller is validated through a set of numerical experiments and by comparing it against its type-1 counterpart. It is shown through these experiments the higher performance of the type-2 FLC in compensating for larger magnitudes of uncertainties with severe nonlinearities.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
