Automatic Control of a Mobile Manipulator Robot Based on Type-2 Fuzzy Sliding Mode Technique

Xin Xu (), Ahmed Shaker () and Marwa S. Salem
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Xin Xu: Department of Mechanical Engineering, Taiyuan Institute of Technology, Taiyuan 030008, China
Ahmed Shaker: Engineering Physics and Mathematics Department, Faculty of Engineering, Ain Shams University, Cairo 11566, Egypt
Marwa S. Salem: Department of Computer Engineering, College of Computer Science and Engineering, University of Ha’il, Ha’il 55211, Saudi Arabia

Mathematics, 2022, vol. 10, issue 20, 1-18

Abstract: In this paper, an automatic control method based on type-2 fuzzy sliding mode control for a mobile arm robot is presented. These types of robots have very complex dynamics due to the uncertainty of the arm parameters and the mobility of their base, so conventional control methods do not provide a suitable solution. The proposed method proves convergence with Lyapunov theory, and its convergence is mathematically guaranteed. A type-2 fuzzy system is responsible for approximating unmodulated dynamics, nonlinear terms, and uncertain parameters. In simulations, the performance of the proposed method with different situations, including uncertainty in arm parameters, uncertainty in mobile robot parameters (arm robot base), uncertainty in load, as well as indeterminacy in modeling have been applied. The comparison with two conventional controllers shows the efficiency and superiority of the proposed method.

Keywords: automatic control; mobile robot; type-2 fuzzy; sliding mode technique (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
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