Type-3 Fuzzy Control of Robotic Manipulators

摘要

In this paper, the control of robotic manipulators (RMs) is studied. The RMs are widely used in industry. The RMs are multi-input-multi-output systems, and their dynamics are highly nonlinear. To improve the accuracy in practice, it is impossible to ignore the influence of nonlinear dynamics and the interaction of inputs–outputs. Non-structural uncertainties such as friction, disturbance, and unmodeled dynamics are other challenges of these systems. Recently, type-3 (T3) fuzzy logic systems (FLSs) have been suggested that result in better accuracy in a noisy environment. In this paper, a new control idea on the basis of T3-FLSs is suggested. T3-FLSs are used to estimate the dynamics of RMs and the symmetrical perturbations. The T3-FLSs are learned using online laws to enhance the stability. To eliminate the effect of the interconnection of inputs and estimation errors, a compensator is developed. By several simulations, the superiority of the suggested controller is demonstrated.