Robust Interval Type-2 Fuzzy Sliding Mode Control Design for Robot Manipulators

摘要

This paper develops a new robust tracking control design for n-link robot manipulators with dynamic uncertainties, and unknown disturbances. The procedure is conducted by designing two adaptive interval type-2 fuzzy logic systems (AIT2-FLSs) to better approximate the parametric uncertainties on the system nominal. Then, in order to achieve the best tracking control performance and to enhance the system robustness against approximation errors and unknown disturbances, a new control algorithm, which uses a new synthesized AIT2 fuzzy sliding mode control (AIT2-FSMC) law, has been proposed. To deal with the chattering phenomenon without deteriorating the system robustness, the AIT2-FSMC has been designed so as to generate three adaptive control laws that provide the optimal gains value of the global control law. The adaptation laws have been designed in the sense of the Lyapunov stability theorem. Mathematical proof shows that the closed loop control system is globally asymptotically stable. Finally, a 2-link robot manipulator is used as case study to illustrate the effectiveness of the proposed control approach.