Interval Fuzzy Type-2 Sliding Mode Control Design of Six-DOF Robotic Manipulator

Yassine Bouteraa, Khalid A. Alattas, Obaid Alshammari, Sondess Ben Aoun, Mohamed Amin Regaieg and Saleh Mobayen ()
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Yassine Bouteraa: College of Computer Engineering and Sciences, Prince Sattam Bin Abdulaziz University, Al-Kharj 11942, Saudi Arabia
Khalid A. Alattas: Department of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah 23218, Saudi Arabia
Obaid Alshammari: Department of Electrical Engineering, College of Engineering, University of Ha’il, Hail 2440, Saudi Arabia
Sondess Ben Aoun: Department of Computer Engineering, College of Computer Science and Engineering, University of Ha’il, Hail 2440, Saudi Arabia
Mohamed Amin Regaieg: Lab-STA, LR11ES50, National School of Engineering of Sfax, University of Sfax, Sfax 3038, Tunisia
Saleh Mobayen: Graduate School of Intelligent Data Science, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 640301, Taiwan

Mathematics, 2022, vol. 10, issue 24, 1-52

Abstract: The remarkable features of hybrid SMC assisted with fuzzy systems supplying parameters of the controller have led to significant success of these control approaches, especially in the control of multi-input and multi-output nonlinear systems. The development of type-1 fuzzy systems to type-2 fuzzy systems has improved the performance of fuzzy systems due to the ability to model uncertainties in the expression of expert knowledge. Accordingly, in this paper, the basic approach of designing and implementing the interval type-2 fuzzy sliding mode control was proposed. According to the introduced systematic design procedure, complete optimal design of a type-2 fuzzy system structure was presented in providing sliding mode control parameters by minimizing tracking error and control energy. Based on the proposed method, the need for expert knowledge as the main challenge in designing fuzzy systems was eliminated. In addition, the possibility to limit the control outputs to deal with actuators’ saturation was made available. The control method was implemented on a six-degree-of-freedom robot manipulator that was exposed to severe external disturbances, and its performance was compared to a type-1 fuzzy system as well as to the conventional SMC. The achievements revealed improved performance of the combined control system of fuzzy sliding mode type-2 in comparison with its control counterparts.

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