Interval Type-2 Adaptive Fuzzy Sliding-Mode Dynamic Control Design for Wheeled Mobile Robots

Abstract

Abstract1 The fuzzy logic control (FLC) has been successfully applied in diverse fields since Zadeh [8] first introduced the fuzzy set theory. Basically, one of the most widely adopted FLCs is the fuzzy-rule-based-system, the Mam-dani FLC, which is based on human expertise and knowledge, so that precise and accurate descriptions of the mathematical model of the controlled plant are not required for designing the desired FLC. The concept of type-2 fuzzy sets (T2-FSs) [9] is an extension of the well-known ordinary fuzzy sets, the type-1 fuzzy sets (T1-FSs) which is also characterized by a fuzzy mem-bership function. The membership functions of T2-FSs are three dimensional and include a footprint of uncer-tainty (FOU), which is a new third dimension of T2-FSs and makes it possible to handle uncertainties [10]. If