title: Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator.
abstract: 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.
authors.affiliation: Republic of Korea Naval Logistics Command, P.O. Box 602, Hyeon-dong, Jinhae-gu, Changwon-si, Gyeongsangnam-do 645-798, Republic of Korea.
authors.forename: Ji-Hwan
authors.initials: JH
authors.lastname: Hwang
authors.affiliation: Department of Computer Engineering, Gachon University, Bokjeong-dong, Sujeong-gu, Seongnam-si, Gyeonggi-do 461-701, Republic of Korea.
authors.forename: Young-Chang
authors.initials: YC
authors.lastname: Kang
authors.affiliation: Department of Electronic Engineering, Incheon National University, Incheon 402-752, Republic of Korea.
authors.forename: Jong-Wook
authors.identifier: 0000-0002-2357-8396
authors.initials: JW
authors.lastname: Park
authors.affiliation: Department of Digital Electronics, Inha Technical College, 100 Inha-ro, Nam-Gu, Incheon 402-752, Republic of Korea.
authors.forename: Dong W
authors.identifier: 0000-0002-8700-4199
authors.initials: DW
authors.lastname: Kim
mesh_terms: D001185:Artificial Intelligence; D003198:Computer Simulation; D017143:Fuzzy Logic; D016571:Neural Networks, Computer; D012371:Robotics / Q000379:methods*