A finite-time convergent interval type-2 fuzzy sliding-mode controller design for omnidirectional mobile robots

Abstract

In this paper, we propose a finite-time convergent interval type-2 fuzzy sliding-mode controller (FTC-1T2-FSMC) for trajectory control of a tri-wheel omni-directional mobile robot (ODMR) with system uncertainties and external disturbances. This control scheme combines the techniques of terminal attractor approach, type-2 fuzzy logic control, and sliding-mode control which can drive the error states to zero in finite time. All the simulation results demonstrate the effectiveness of the proposed control method.